diff --git a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
index 01575c0295a..47f41e3a3ac 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
@@ -7,58 +7,58 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1383, varargin{:});
+        tmp = iDynTreeMEX(1457, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1384, self);
+        iDynTreeMEX(1458, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1385, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1459, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1386, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1460, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1387, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1461, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1388, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1462, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1389, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1463, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1390, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1464, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1391, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1465, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1392, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1466, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1393, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1467, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1394, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1468, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1395, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1469, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1396, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1470, self, varargin{:});
     end
     function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1397, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1471, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1398, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1472, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m
index c9dd1ed33ec..2f8d6c38558 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m
@@ -7,17 +7,17 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(525, varargin{:});
+        tmp = iDynTreeMEX(549, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(526, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(550, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(527, self);
+        iDynTreeMEX(551, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m
index addee9ba319..e255a2b075a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m
@@ -7,24 +7,24 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(521, varargin{:});
+        tmp = iDynTreeMEX(545, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(522, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(546, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(524, self);
+        iDynTreeMEX(548, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(523, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(547, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m
index a268c772c56..24e341d3dd1 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m
@@ -7,17 +7,17 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(514, varargin{:});
+        tmp = iDynTreeMEX(538, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = exp(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(515, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(539, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(516, self);
+        iDynTreeMEX(540, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m
index b4b2aa9b68f..7ffe8a5ccee 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m
@@ -7,14 +7,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(512, varargin{:});
+        tmp = iDynTreeMEX(536, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(513, self);
+        iDynTreeMEX(537, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m
index deed1746bc4..6379b6214cc 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m
@@ -1,3 +1,3 @@
 function varargout = ArticulatedBodyAlgorithm(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1298, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1372, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
index d3962647417..c3152d3a35a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
@@ -9,110 +9,110 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1276, varargin{:});
+        tmp = iDynTreeMEX(1350, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1277, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1351, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1278, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1352, self, varargin{:});
     end
     function varargout = S(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1279, self);
+        varargout{1} = iDynTreeMEX(1353, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1280, self, varargin{1});
+        iDynTreeMEX(1354, self, varargin{1});
       end
     end
     function varargout = U(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1281, self);
+        varargout{1} = iDynTreeMEX(1355, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1282, self, varargin{1});
+        iDynTreeMEX(1356, self, varargin{1});
       end
     end
     function varargout = D(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1283, self);
+        varargout{1} = iDynTreeMEX(1357, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1284, self, varargin{1});
+        iDynTreeMEX(1358, self, varargin{1});
       end
     end
     function varargout = u(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1285, self);
+        varargout{1} = iDynTreeMEX(1359, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1286, self, varargin{1});
+        iDynTreeMEX(1360, self, varargin{1});
       end
     end
     function varargout = linksVel(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1287, self);
+        varargout{1} = iDynTreeMEX(1361, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1288, self, varargin{1});
+        iDynTreeMEX(1362, self, varargin{1});
       end
     end
     function varargout = linksBiasAcceleration(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1289, self);
+        varargout{1} = iDynTreeMEX(1363, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1290, self, varargin{1});
+        iDynTreeMEX(1364, self, varargin{1});
       end
     end
     function varargout = linksAccelerations(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1291, self);
+        varargout{1} = iDynTreeMEX(1365, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1292, self, varargin{1});
+        iDynTreeMEX(1366, self, varargin{1});
       end
     end
     function varargout = linkABIs(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1293, self);
+        varargout{1} = iDynTreeMEX(1367, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1294, self, varargin{1});
+        iDynTreeMEX(1368, self, varargin{1});
       end
     end
     function varargout = linksBiasWrench(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1295, self);
+        varargout{1} = iDynTreeMEX(1369, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1296, self, varargin{1});
+        iDynTreeMEX(1370, self, varargin{1});
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1297, self);
+        iDynTreeMEX(1371, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m
index 5ef21eba6b9..aab8f828424 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m
@@ -9,57 +9,57 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(684, varargin{:});
+        tmp = iDynTreeMEX(708, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getLinearLinearSubmatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(685, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(709, self, varargin{:});
     end
     function varargout = getLinearAngularSubmatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(686, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(710, self, varargin{:});
     end
     function varargout = getAngularAngularSubmatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(687, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(711, self, varargin{:});
     end
     function varargout = applyInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(689, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(713, self, varargin{:});
     end
     function varargout = asMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(690, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(714, self, varargin{:});
     end
     function varargout = getInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(691, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(715, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(692, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(716, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(693, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(717, self, varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(694, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(718, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(695, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(719, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(698, self);
+        iDynTreeMEX(722, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = combine(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(688, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(712, varargin{:});
     end
     function varargout = ABADyadHelper(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(696, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(720, varargin{:});
     end
     function varargout = ABADyadHelperLin(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(697, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(721, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeEstimatorState.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeEstimatorState.m
index e89c4008306..080f9c50f22 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AttitudeEstimatorState.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AttitudeEstimatorState.m
@@ -7,30 +7,30 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1668, self);
+        varargout{1} = iDynTreeMEX(1742, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1669, self, varargin{1});
+        iDynTreeMEX(1743, self, varargin{1});
       end
     end
     function varargout = m_angular_velocity(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1670, self);
+        varargout{1} = iDynTreeMEX(1744, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1671, self, varargin{1});
+        iDynTreeMEX(1745, self, varargin{1});
       end
     end
     function varargout = m_gyroscope_bias(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1672, self);
+        varargout{1} = iDynTreeMEX(1746, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1673, self, varargin{1});
+        iDynTreeMEX(1747, self, varargin{1});
       end
     end
     function self = AttitudeEstimatorState(varargin)
@@ -39,14 +39,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1674, varargin{:});
+        tmp = iDynTreeMEX(1748, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1675, self);
+        iDynTreeMEX(1749, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilter.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilter.m
index 9cf4a33b1cd..9fc3a0bf98f 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilter.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilter.m
@@ -7,68 +7,68 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1699, varargin{:});
+        tmp = iDynTreeMEX(1773, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = useMagnetoMeterMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1700, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1774, self, varargin{:});
     end
     function varargout = setConfidenceForMagnetometerMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1701, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1775, self, varargin{:});
     end
     function varargout = setGainkp(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1702, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1776, self, varargin{:});
     end
     function varargout = setGainki(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1703, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1777, self, varargin{:});
     end
     function varargout = setTimeStepInSeconds(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1704, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1778, self, varargin{:});
     end
     function varargout = setGravityDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1705, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1779, self, varargin{:});
     end
     function varargout = setParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1706, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1780, self, varargin{:});
     end
     function varargout = getParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1707, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1781, self, varargin{:});
     end
     function varargout = updateFilterWithMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1708, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1782, self, varargin{:});
     end
     function varargout = propagateStates(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1709, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1783, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsRotationMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1710, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1784, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsQuaternion(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1711, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1785, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsRPY(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1712, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1786, self, varargin{:});
     end
     function varargout = getInternalStateSize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1713, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1787, self, varargin{:});
     end
     function varargout = getInternalState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1714, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1788, self, varargin{:});
     end
     function varargout = getDefaultInternalInitialState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1715, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1789, self, varargin{:});
     end
     function varargout = setInternalState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1716, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1790, self, varargin{:});
     end
     function varargout = setInternalStateInitialOrientation(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1717, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1791, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1718, self);
+        iDynTreeMEX(1792, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilterParameters.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilterParameters.m
index 5d54f07680b..17425fa3079 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilterParameters.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilterParameters.m
@@ -7,50 +7,50 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1687, self);
+        varargout{1} = iDynTreeMEX(1761, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1688, self, varargin{1});
+        iDynTreeMEX(1762, self, varargin{1});
       end
     end
     function varargout = kp(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1689, self);
+        varargout{1} = iDynTreeMEX(1763, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1690, self, varargin{1});
+        iDynTreeMEX(1764, self, varargin{1});
       end
     end
     function varargout = ki(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1691, self);
+        varargout{1} = iDynTreeMEX(1765, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1692, self, varargin{1});
+        iDynTreeMEX(1766, self, varargin{1});
       end
     end
     function varargout = use_magnetometer_measurements(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1693, self);
+        varargout{1} = iDynTreeMEX(1767, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1694, self, varargin{1});
+        iDynTreeMEX(1768, self, varargin{1});
       end
     end
     function varargout = confidence_magnetometer_measurements(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1695, self);
+        varargout{1} = iDynTreeMEX(1769, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1696, self, varargin{1});
+        iDynTreeMEX(1770, self, varargin{1});
       end
     end
     function self = AttitudeMahonyFilterParameters(varargin)
@@ -59,14 +59,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1697, varargin{:});
+        tmp = iDynTreeMEX(1771, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1698, self);
+        iDynTreeMEX(1772, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKF.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKF.m
index db66b9f5152..fc5e76b5b16 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKF.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKF.m
@@ -11,74 +11,74 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1764, varargin{:});
+        tmp = iDynTreeMEX(1838, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1765, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1839, self, varargin{:});
     end
     function varargout = setParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1766, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1840, self, varargin{:});
     end
     function varargout = setGravityDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1767, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1841, self, varargin{:});
     end
     function varargout = setTimeStepInSeconds(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1768, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1842, self, varargin{:});
     end
     function varargout = setBiasCorrelationTimeFactor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1769, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1843, self, varargin{:});
     end
     function varargout = useMagnetometerMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1770, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1844, self, varargin{:});
     end
     function varargout = setMeasurementNoiseVariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1771, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1845, self, varargin{:});
     end
     function varargout = setSystemNoiseVariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1772, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1846, self, varargin{:});
     end
     function varargout = setInitialStateCovariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1773, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1847, self, varargin{:});
     end
     function varargout = initializeFilter(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1774, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1848, self, varargin{:});
     end
     function varargout = updateFilterWithMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1775, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1849, self, varargin{:});
     end
     function varargout = propagateStates(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1776, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1850, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsRotationMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1777, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1851, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsQuaternion(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1778, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1852, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsRPY(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1779, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1853, self, varargin{:});
     end
     function varargout = getInternalStateSize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1780, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1854, self, varargin{:});
     end
     function varargout = getInternalState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1781, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1855, self, varargin{:});
     end
     function varargout = getDefaultInternalInitialState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1782, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1856, self, varargin{:});
     end
     function varargout = setInternalState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1783, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1857, self, varargin{:});
     end
     function varargout = setInternalStateInitialOrientation(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1784, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1858, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1785, self);
+        iDynTreeMEX(1859, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKFParameters.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKFParameters.m
index b265063b609..8289a551250 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKFParameters.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKFParameters.m
@@ -7,100 +7,100 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1742, self);
+        varargout{1} = iDynTreeMEX(1816, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1743, self, varargin{1});
+        iDynTreeMEX(1817, self, varargin{1});
       end
     end
     function varargout = bias_correlation_time_factor(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1744, self);
+        varargout{1} = iDynTreeMEX(1818, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1745, self, varargin{1});
+        iDynTreeMEX(1819, self, varargin{1});
       end
     end
     function varargout = accelerometer_noise_variance(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1746, self);
+        varargout{1} = iDynTreeMEX(1820, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1747, self, varargin{1});
+        iDynTreeMEX(1821, self, varargin{1});
       end
     end
     function varargout = magnetometer_noise_variance(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1748, self);
+        varargout{1} = iDynTreeMEX(1822, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1749, self, varargin{1});
+        iDynTreeMEX(1823, self, varargin{1});
       end
     end
     function varargout = gyroscope_noise_variance(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1750, self);
+        varargout{1} = iDynTreeMEX(1824, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1751, self, varargin{1});
+        iDynTreeMEX(1825, self, varargin{1});
       end
     end
     function varargout = gyro_bias_noise_variance(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1752, self);
+        varargout{1} = iDynTreeMEX(1826, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1753, self, varargin{1});
+        iDynTreeMEX(1827, self, varargin{1});
       end
     end
     function varargout = initial_orientation_error_variance(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1754, self);
+        varargout{1} = iDynTreeMEX(1828, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1755, self, varargin{1});
+        iDynTreeMEX(1829, self, varargin{1});
       end
     end
     function varargout = initial_ang_vel_error_variance(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1756, self);
+        varargout{1} = iDynTreeMEX(1830, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1757, self, varargin{1});
+        iDynTreeMEX(1831, self, varargin{1});
       end
     end
     function varargout = initial_gyro_bias_error_variance(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1758, self);
+        varargout{1} = iDynTreeMEX(1832, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1759, self, varargin{1});
+        iDynTreeMEX(1833, self, varargin{1});
       end
     end
     function varargout = use_magnetometer_measurements(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1760, self);
+        varargout{1} = iDynTreeMEX(1834, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1761, self, varargin{1});
+        iDynTreeMEX(1835, self, varargin{1});
       end
     end
     function self = AttitudeQuaternionEKFParameters(varargin)
@@ -109,14 +109,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1762, varargin{:});
+        tmp = iDynTreeMEX(1836, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1763, self);
+        iDynTreeMEX(1837, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Axis.m b/bindings/matlab/autogenerated/+iDynTree/Axis.m
index bd6d3eaffb6..23a841cb63e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Axis.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Axis.m
@@ -9,62 +9,62 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(636, varargin{:});
+        tmp = iDynTreeMEX(660, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(637, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(661, self, varargin{:});
     end
     function varargout = getOrigin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(638, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(662, self, varargin{:});
     end
     function varargout = setDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(639, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(663, self, varargin{:});
     end
     function varargout = setOrigin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(640, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(664, self, varargin{:});
     end
     function varargout = getRotationTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(641, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(665, self, varargin{:});
     end
     function varargout = getRotationTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(642, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(666, self, varargin{:});
     end
     function varargout = getRotationTwist(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(643, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(667, self, varargin{:});
     end
     function varargout = getRotationSpatialAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(644, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(668, self, varargin{:});
     end
     function varargout = getTranslationTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(645, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(669, self, varargin{:});
     end
     function varargout = getTranslationTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(646, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(670, self, varargin{:});
     end
     function varargout = getTranslationTwist(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(647, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(671, self, varargin{:});
     end
     function varargout = getTranslationSpatialAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(648, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(672, self, varargin{:});
     end
     function varargout = isParallel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(649, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(673, self, varargin{:});
     end
     function varargout = reverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(650, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(674, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(651, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(675, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(652, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(676, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(653, self);
+        iDynTreeMEX(677, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m
index 3c1e9c23c7c..0bbe8f26442 100644
--- a/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m
+++ b/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m
@@ -7,37 +7,37 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1610, self);
+        varargout{1} = iDynTreeMEX(1684, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1611, self, varargin{1});
+        iDynTreeMEX(1685, self, varargin{1});
       end
     end
     function varargout = id(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1612, self);
+        varargout{1} = iDynTreeMEX(1686, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1613, self, varargin{1});
+        iDynTreeMEX(1687, self, varargin{1});
       end
     end
     function varargout = range(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1614, self);
+        varargout{1} = iDynTreeMEX(1688, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1615, self, varargin{1});
+        iDynTreeMEX(1689, self, varargin{1});
       end
     end
     function varargout = eq(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1616, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1690, self, varargin{:});
     end
     function varargout = lt(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1617, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1691, self, varargin{:});
     end
     function self = BerdyDynamicVariable(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -45,14 +45,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1618, varargin{:});
+        tmp = iDynTreeMEX(1692, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1619, self);
+        iDynTreeMEX(1693, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m b/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m
index 686d78b4130..eb5c0bb8fde 100644
--- a/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m
+++ b/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m
@@ -9,104 +9,104 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1620, varargin{:});
+        tmp = iDynTreeMEX(1694, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = dynamicTraversal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1621, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1695, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1622, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1696, self, varargin{:});
     end
     function varargout = sensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1623, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1697, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1624, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1698, self, varargin{:});
     end
     function varargout = init(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1625, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1699, self, varargin{:});
     end
     function varargout = getOptions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1626, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1700, self, varargin{:});
     end
     function varargout = getNrOfDynamicVariables(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1627, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1701, self, varargin{:});
     end
     function varargout = getNrOfDynamicEquations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1628, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1702, self, varargin{:});
     end
     function varargout = getNrOfSensorsMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1629, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1703, self, varargin{:});
     end
     function varargout = resizeAndZeroBerdyMatrices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1630, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1704, self, varargin{:});
     end
     function varargout = getBerdyMatrices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1631, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1705, self, varargin{:});
     end
     function varargout = getSensorsOrdering(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1632, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1706, self, varargin{:});
     end
     function varargout = getRangeSensorVariable(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1633, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1707, self, varargin{:});
     end
     function varargout = getRangeDOFSensorVariable(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1634, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1708, self, varargin{:});
     end
     function varargout = getRangeJointSensorVariable(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1635, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1709, self, varargin{:});
     end
     function varargout = getRangeLinkSensorVariable(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1636, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1710, self, varargin{:});
     end
     function varargout = getRangeLinkVariable(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1637, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1711, self, varargin{:});
     end
     function varargout = getRangeJointVariable(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1638, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1712, self, varargin{:});
     end
     function varargout = getRangeDOFVariable(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1639, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1713, self, varargin{:});
     end
     function varargout = getDynamicVariablesOrdering(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1640, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1714, self, varargin{:});
     end
     function varargout = serializeDynamicVariables(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1641, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1715, self, varargin{:});
     end
     function varargout = serializeSensorVariables(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1642, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1716, self, varargin{:});
     end
     function varargout = serializeDynamicVariablesComputedFromFixedBaseRNEA(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1643, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1717, self, varargin{:});
     end
     function varargout = extractJointTorquesFromDynamicVariables(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1644, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1718, self, varargin{:});
     end
     function varargout = extractLinkNetExternalWrenchesFromDynamicVariables(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1645, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1719, self, varargin{:});
     end
     function varargout = updateKinematicsFromFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1646, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1720, self, varargin{:});
     end
     function varargout = updateKinematicsFromFixedBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1647, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1721, self, varargin{:});
     end
     function varargout = updateKinematicsFromTraversalFixedBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1648, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1722, self, varargin{:});
     end
     function varargout = setNetExternalWrenchMeasurementFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1649, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1723, self, varargin{:});
     end
     function varargout = getNetExternalWrenchMeasurementFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1650, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1724, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1651, self);
+        iDynTreeMEX(1725, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m b/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m
index 14b164cd4b0..cf0c62f268a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m
+++ b/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m
@@ -9,7 +9,7 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1581, varargin{:});
+        tmp = iDynTreeMEX(1655, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
@@ -18,88 +18,88 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1582, self);
+        varargout{1} = iDynTreeMEX(1656, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1583, self, varargin{1});
+        iDynTreeMEX(1657, self, varargin{1});
       end
     end
     function varargout = includeAllNetExternalWrenchesAsDynamicVariables(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1584, self);
+        varargout{1} = iDynTreeMEX(1658, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1585, self, varargin{1});
+        iDynTreeMEX(1659, self, varargin{1});
       end
     end
     function varargout = includeAllJointAccelerationsAsSensors(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1586, self);
+        varargout{1} = iDynTreeMEX(1660, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1587, self, varargin{1});
+        iDynTreeMEX(1661, self, varargin{1});
       end
     end
     function varargout = includeAllJointTorquesAsSensors(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1588, self);
+        varargout{1} = iDynTreeMEX(1662, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1589, self, varargin{1});
+        iDynTreeMEX(1663, self, varargin{1});
       end
     end
     function varargout = includeAllNetExternalWrenchesAsSensors(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1590, self);
+        varargout{1} = iDynTreeMEX(1664, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1591, self, varargin{1});
+        iDynTreeMEX(1665, self, varargin{1});
       end
     end
     function varargout = includeFixedBaseExternalWrench(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1592, self);
+        varargout{1} = iDynTreeMEX(1666, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1593, self, varargin{1});
+        iDynTreeMEX(1667, self, varargin{1});
       end
     end
     function varargout = jointOnWhichTheInternalWrenchIsMeasured(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1594, self);
+        varargout{1} = iDynTreeMEX(1668, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1595, self, varargin{1});
+        iDynTreeMEX(1669, self, varargin{1});
       end
     end
     function varargout = baseLink(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1596, self);
+        varargout{1} = iDynTreeMEX(1670, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1597, self, varargin{1});
+        iDynTreeMEX(1671, self, varargin{1});
       end
     end
     function varargout = checkConsistency(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1598, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1672, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1599, self);
+        iDynTreeMEX(1673, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m b/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m
index 6c8cfde4529..b57970d42ba 100644
--- a/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m
@@ -7,37 +7,37 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1600, self);
+        varargout{1} = iDynTreeMEX(1674, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1601, self, varargin{1});
+        iDynTreeMEX(1675, self, varargin{1});
       end
     end
     function varargout = id(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1602, self);
+        varargout{1} = iDynTreeMEX(1676, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1603, self, varargin{1});
+        iDynTreeMEX(1677, self, varargin{1});
       end
     end
     function varargout = range(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1604, self);
+        varargout{1} = iDynTreeMEX(1678, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1605, self, varargin{1});
+        iDynTreeMEX(1679, self, varargin{1});
       end
     end
     function varargout = eq(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1606, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1680, self, varargin{:});
     end
     function varargout = lt(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1607, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1681, self, varargin{:});
     end
     function self = BerdySensor(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -45,14 +45,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1608, varargin{:});
+        tmp = iDynTreeMEX(1682, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1609, self);
+        iDynTreeMEX(1683, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m b/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m
index d9febab41f5..a500d81128c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m
+++ b/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m
@@ -9,58 +9,58 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1652, varargin{:});
+        tmp = iDynTreeMEX(1726, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1653, self);
+        iDynTreeMEX(1727, self);
         self.SwigClear();
       end
     end
     function varargout = setDynamicsConstraintsPriorCovariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1654, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1728, self, varargin{:});
     end
     function varargout = setDynamicsRegularizationPriorCovariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1655, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1729, self, varargin{:});
     end
     function varargout = setDynamicsRegularizationPriorExpectedValue(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1656, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1730, self, varargin{:});
     end
     function varargout = setMeasurementsPriorCovariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1657, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1731, self, varargin{:});
     end
     function varargout = dynamicsConstraintsPriorCovarianceInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1658, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1732, self, varargin{:});
     end
     function varargout = dynamicsRegularizationPriorCovarianceInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1659, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1733, self, varargin{:});
     end
     function varargout = dynamicsRegularizationPriorExpectedValue(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1660, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1734, self, varargin{:});
     end
     function varargout = measurementsPriorCovarianceInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1661, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1735, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1662, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1736, self, varargin{:});
     end
     function varargout = initialize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1663, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1737, self, varargin{:});
     end
     function varargout = updateEstimateInformationFixedBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1664, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1738, self, varargin{:});
     end
     function varargout = updateEstimateInformationFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1665, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1739, self, varargin{:});
     end
     function varargout = doEstimate(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1666, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1740, self, varargin{:});
     end
     function varargout = getLastEstimate(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1667, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1741, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/Box.m b/bindings/matlab/autogenerated/+iDynTree/Box.m
index a6e1cf4dd74..6a8201b4d5c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Box.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Box.m
@@ -2,41 +2,41 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1122, self);
+        iDynTreeMEX(1146, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1123, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1147, self, varargin{:});
     end
     function varargout = x(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1124, self);
+        varargout{1} = iDynTreeMEX(1148, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1125, self, varargin{1});
+        iDynTreeMEX(1149, self, varargin{1});
       end
     end
     function varargout = y(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1126, self);
+        varargout{1} = iDynTreeMEX(1150, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1127, self, varargin{1});
+        iDynTreeMEX(1151, self, varargin{1});
       end
     end
     function varargout = z(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1128, self);
+        varargout{1} = iDynTreeMEX(1152, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1129, self, varargin{1});
+        iDynTreeMEX(1153, self, varargin{1});
       end
     end
     function self = Box(varargin)
@@ -46,7 +46,7 @@ function delete(self)
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1130, varargin{:});
+        tmp = iDynTreeMEX(1154, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m b/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m
index 3cb2e668a17..16aa525dc59 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m
@@ -7,30 +7,30 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(621, varargin{:});
+        tmp = iDynTreeMEX(645, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(622, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(646, self, varargin{:});
     end
     function varargout = fromSpatial(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(624, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(648, self, varargin{:});
     end
     function varargout = toSpatial(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(625, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(649, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(626, self);
+        iDynTreeMEX(650, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = Zero(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(623, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(647, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ColorViz.m b/bindings/matlab/autogenerated/+iDynTree/ColorViz.m
index 8042fa1784c..476a37910b1 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ColorViz.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ColorViz.m
@@ -7,40 +7,40 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1896, self);
+        varargout{1} = iDynTreeMEX(1970, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1897, self, varargin{1});
+        iDynTreeMEX(1971, self, varargin{1});
       end
     end
     function varargout = g(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1898, self);
+        varargout{1} = iDynTreeMEX(1972, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1899, self, varargin{1});
+        iDynTreeMEX(1973, self, varargin{1});
       end
     end
     function varargout = b(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1900, self);
+        varargout{1} = iDynTreeMEX(1974, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1901, self, varargin{1});
+        iDynTreeMEX(1975, self, varargin{1});
       end
     end
     function varargout = a(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1902, self);
+        varargout{1} = iDynTreeMEX(1976, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1903, self, varargin{1});
+        iDynTreeMEX(1977, self, varargin{1});
       end
     end
     function self = ColorViz(varargin)
@@ -49,14 +49,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1904, varargin{:});
+        tmp = iDynTreeMEX(1978, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1905, self);
+        iDynTreeMEX(1979, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m b/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m
index 46f41090c78..53029ed6315 100644
--- a/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m
+++ b/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m
@@ -1,3 +1,3 @@
 function varargout = CompositeRigidBodyAlgorithm(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1275, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1349, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m
index 14b94421a06..2ff919d01ee 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m
@@ -1,3 +1,3 @@
 function varargout = ComputeLinearAndAngularMomentum(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1272, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1346, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m
index 5e54f03a9c8..1de61b24489 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m
@@ -1,3 +1,3 @@
 function varargout = ComputeLinearAndAngularMomentumDerivativeBias(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1273, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1347, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m b/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m
index ab7eaac2712..f42061dafd5 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m
@@ -4,13 +4,13 @@
       this = iDynTreeMEX(3, self);
     end
     function varargout = contactId(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1252, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1276, self, varargin{:});
     end
     function varargout = contactPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1253, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1277, self, varargin{:});
     end
     function varargout = contactWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1254, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1278, self, varargin{:});
     end
     function self = ContactWrench(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -18,14 +18,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1255, varargin{:});
+        tmp = iDynTreeMEX(1279, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1256, self);
+        iDynTreeMEX(1280, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m b/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m
index bbd336b2fbf..3dca9d97e0a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m
@@ -4,118 +4,118 @@
       this = iDynTreeMEX(3, self);
     end
     function varargout = setActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2004, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2078, self, varargin{:});
     end
     function varargout = isActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2005, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2079, self, varargin{:});
     end
     function varargout = getNrOfConstraints(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2006, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2080, self, varargin{:});
     end
     function varargout = projectedConvexHull(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2007, self);
+        varargout{1} = iDynTreeMEX(2081, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2008, self, varargin{1});
+        iDynTreeMEX(2082, self, varargin{1});
       end
     end
     function varargout = A(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2009, self);
+        varargout{1} = iDynTreeMEX(2083, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2010, self, varargin{1});
+        iDynTreeMEX(2084, self, varargin{1});
       end
     end
     function varargout = b(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2011, self);
+        varargout{1} = iDynTreeMEX(2085, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2012, self, varargin{1});
+        iDynTreeMEX(2086, self, varargin{1});
       end
     end
     function varargout = P(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2013, self);
+        varargout{1} = iDynTreeMEX(2087, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2014, self, varargin{1});
+        iDynTreeMEX(2088, self, varargin{1});
       end
     end
     function varargout = Pdirection(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2015, self);
+        varargout{1} = iDynTreeMEX(2089, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2016, self, varargin{1});
+        iDynTreeMEX(2090, self, varargin{1});
       end
     end
     function varargout = AtimesP(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2017, self);
+        varargout{1} = iDynTreeMEX(2091, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2018, self, varargin{1});
+        iDynTreeMEX(2092, self, varargin{1});
       end
     end
     function varargout = o(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2019, self);
+        varargout{1} = iDynTreeMEX(2093, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2020, self, varargin{1});
+        iDynTreeMEX(2094, self, varargin{1});
       end
     end
     function varargout = buildConvexHull(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2021, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2095, self, varargin{:});
     end
     function varargout = supportFrameIndices(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2022, self);
+        varargout{1} = iDynTreeMEX(2096, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2023, self, varargin{1});
+        iDynTreeMEX(2097, self, varargin{1});
       end
     end
     function varargout = absoluteFrame_X_supportFrame(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2024, self);
+        varargout{1} = iDynTreeMEX(2098, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2025, self, varargin{1});
+        iDynTreeMEX(2099, self, varargin{1});
       end
     end
     function varargout = project(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2026, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2100, self, varargin{:});
     end
     function varargout = computeMargin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2027, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2101, self, varargin{:});
     end
     function varargout = setProjectionAlongDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2028, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2102, self, varargin{:});
     end
     function varargout = projectAlongDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2029, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2103, self, varargin{:});
     end
     function self = ConvexHullProjectionConstraint(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -123,14 +123,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(2030, varargin{:});
+        tmp = iDynTreeMEX(2104, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(2031, self);
+        iDynTreeMEX(2105, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Cylinder.m b/bindings/matlab/autogenerated/+iDynTree/Cylinder.m
index cffe53cda33..843231f07a7 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Cylinder.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Cylinder.m
@@ -2,31 +2,31 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1131, self);
+        iDynTreeMEX(1155, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1132, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1156, self, varargin{:});
     end
     function varargout = length(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1133, self);
+        varargout{1} = iDynTreeMEX(1157, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1134, self, varargin{1});
+        iDynTreeMEX(1158, self, varargin{1});
       end
     end
     function varargout = radius(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1135, self);
+        varargout{1} = iDynTreeMEX(1159, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1136, self, varargin{1});
+        iDynTreeMEX(1160, self, varargin{1});
       end
     end
     function self = Cylinder(varargin)
@@ -36,7 +36,7 @@ function delete(self)
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1137, varargin{:});
+        tmp = iDynTreeMEX(1161, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialForceArray.m b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialForceArray.m
index fd5af722659..901b577209e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialForceArray.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialForceArray.m
@@ -9,23 +9,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1207, varargin{:});
+        tmp = iDynTreeMEX(1231, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1208, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1232, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1209, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1233, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1210, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1234, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1211, self);
+        iDynTreeMEX(1235, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m
index d8698010c37..c2ff3eb1a1e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m
@@ -9,23 +9,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1212, varargin{:});
+        tmp = iDynTreeMEX(1236, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1213, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1237, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1214, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1238, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1215, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1239, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1216, self);
+        iDynTreeMEX(1240, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_INDEX.m
index 46d1b2002b7..8988d97286a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_INDEX.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_INDEX.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(857);
+    varargout{1} = iDynTreeMEX(881);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(858,varargin{1});
+    iDynTreeMEX(882,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_NAME.m b/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_NAME.m
index b54be02ed2a..cff1efe38a6 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_NAME.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_NAME.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(859);
+    varargout{1} = iDynTreeMEX(883);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(860,varargin{1});
+    iDynTreeMEX(884,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Direction.m b/bindings/matlab/autogenerated/+iDynTree/Direction.m
index f6b72b13260..7e363874cf9 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Direction.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Direction.m
@@ -7,39 +7,39 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(627, varargin{:});
+        tmp = iDynTreeMEX(651, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = Normalize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(628, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(652, self, varargin{:});
     end
     function varargout = isParallel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(629, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(653, self, varargin{:});
     end
     function varargout = isPerpendicular(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(630, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(654, self, varargin{:});
     end
     function varargout = reverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(631, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(655, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(632, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(656, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(633, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(657, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(635, self);
+        iDynTreeMEX(659, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = Default(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(634, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(658, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DiscreteExtendedKalmanFilterHelper.m b/bindings/matlab/autogenerated/+iDynTree/DiscreteExtendedKalmanFilterHelper.m
index 8ac63aba7fe..504d58523cf 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DiscreteExtendedKalmanFilterHelper.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DiscreteExtendedKalmanFilterHelper.m
@@ -4,65 +4,65 @@
       this = iDynTreeMEX(3, self);
     end
     function varargout = ekf_f(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1719, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1793, self, varargin{:});
     end
     function varargout = ekf_h(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1720, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1794, self, varargin{:});
     end
     function varargout = ekfComputeJacobianF(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1721, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1795, self, varargin{:});
     end
     function varargout = ekfComputeJacobianH(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1722, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1796, self, varargin{:});
     end
     function varargout = ekfPredict(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1723, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1797, self, varargin{:});
     end
     function varargout = ekfUpdate(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1724, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1798, self, varargin{:});
     end
     function varargout = ekfInit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1725, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1799, self, varargin{:});
     end
     function varargout = ekfReset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1726, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1800, self, varargin{:});
     end
     function varargout = ekfSetMeasurementVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1727, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1801, self, varargin{:});
     end
     function varargout = ekfSetInputVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1728, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1802, self, varargin{:});
     end
     function varargout = ekfSetInitialState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1729, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1803, self, varargin{:});
     end
     function varargout = ekfSetStateCovariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1730, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1804, self, varargin{:});
     end
     function varargout = ekfSetSystemNoiseCovariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1731, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1805, self, varargin{:});
     end
     function varargout = ekfSetMeasurementNoiseCovariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1732, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1806, self, varargin{:});
     end
     function varargout = ekfSetStateSize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1733, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1807, self, varargin{:});
     end
     function varargout = ekfSetInputSize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1734, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1808, self, varargin{:});
     end
     function varargout = ekfSetOutputSize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1735, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1809, self, varargin{:});
     end
     function varargout = ekfGetStates(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1736, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1810, self, varargin{:});
     end
     function varargout = ekfGetStateCovariance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1737, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1811, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1738, self);
+        iDynTreeMEX(1812, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Dummy.m b/bindings/matlab/autogenerated/+iDynTree/Dummy.m
index affac2e61a2..8184e6684cf 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Dummy.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Dummy.m
@@ -9,14 +9,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(588, varargin{:});
+        tmp = iDynTreeMEX(612, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(589, self);
+        iDynTreeMEX(613, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicSpan.m b/bindings/matlab/autogenerated/+iDynTree/DynamicSpan.m
index ba0f38766bd..5f6f2b5def7 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DynamicSpan.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DynamicSpan.m
@@ -9,78 +9,78 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(828, varargin{:});
+        tmp = iDynTreeMEX(852, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(829, self);
+        iDynTreeMEX(853, self);
         self.SwigClear();
       end
     end
     function varargout = first(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(830, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(854, self, varargin{:});
     end
     function varargout = last(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(831, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(855, self, varargin{:});
     end
     function varargout = subspan(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(832, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(856, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(833, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(857, self, varargin{:});
     end
     function varargout = size_bytes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(834, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(858, self, varargin{:});
     end
     function varargout = empty(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(835, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(859, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(836, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(860, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(837, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(861, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(838, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(862, self, varargin{:});
     end
     function varargout = at(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(839, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(863, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(840, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(864, self, varargin{:});
     end
     function varargout = begin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(841, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(865, self, varargin{:});
     end
     function varargout = end(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(842, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(866, self, varargin{:});
     end
     function varargout = cbegin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(843, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(867, self, varargin{:});
     end
     function varargout = cend(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(844, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(868, self, varargin{:});
     end
     function varargout = rbegin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(845, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(869, self, varargin{:});
     end
     function varargout = rend(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(846, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(870, self, varargin{:});
     end
     function varargout = crbegin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(847, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(871, self, varargin{:});
     end
     function varargout = crend(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(848, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(872, self, varargin{:});
     end
   end
   methods(Static)
     function v = extent()
-      v = iDynTreeMEX(827);
+      v = iDynTreeMEX(851);
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicsComputations.m b/bindings/matlab/autogenerated/+iDynTree/DynamicsComputations.m
index 75095dd4915..1c6193eee0a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DynamicsComputations.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DynamicsComputations.m
@@ -9,118 +9,118 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(2097, varargin{:});
+        tmp = iDynTreeMEX(2171, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(2098, self);
+        iDynTreeMEX(2172, self);
         self.SwigClear();
       end
     end
     function varargout = loadRobotModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2099, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2173, self, varargin{:});
     end
     function varargout = loadRobotModelFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2100, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2174, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2101, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2175, self, varargin{:});
     end
     function varargout = getNrOfDegreesOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2102, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2176, self, varargin{:});
     end
     function varargout = getDescriptionOfDegreeOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2103, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2177, self, varargin{:});
     end
     function varargout = getDescriptionOfDegreesOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2104, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2178, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2105, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2179, self, varargin{:});
     end
     function varargout = getNrOfFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2106, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2180, self, varargin{:});
     end
     function varargout = getFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2107, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2181, self, varargin{:});
     end
     function varargout = setFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2108, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2182, self, varargin{:});
     end
     function varargout = setRobotState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2109, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2183, self, varargin{:});
     end
     function varargout = getWorldBaseTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2110, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2184, self, varargin{:});
     end
     function varargout = getBaseTwist(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2111, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2185, self, varargin{:});
     end
     function varargout = getJointPos(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2112, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2186, self, varargin{:});
     end
     function varargout = getJointVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2113, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2187, self, varargin{:});
     end
     function varargout = getFrameIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2114, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2188, self, varargin{:});
     end
     function varargout = getFrameName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2115, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2189, self, varargin{:});
     end
     function varargout = getWorldTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2116, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2190, self, varargin{:});
     end
     function varargout = getRelativeTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2117, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2191, self, varargin{:});
     end
     function varargout = getFrameTwist(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2118, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2192, self, varargin{:});
     end
     function varargout = getFrameTwistInWorldOrient(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2119, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2193, self, varargin{:});
     end
     function varargout = getFrameProperSpatialAcceleration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2120, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2194, self, varargin{:});
     end
     function varargout = getLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2121, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2195, self, varargin{:});
     end
     function varargout = getLinkInertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2122, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2196, self, varargin{:});
     end
     function varargout = getJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2123, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2197, self, varargin{:});
     end
     function varargout = getJointName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2124, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2198, self, varargin{:});
     end
     function varargout = getJointLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2125, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2199, self, varargin{:});
     end
     function varargout = inverseDynamics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2126, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2200, self, varargin{:});
     end
     function varargout = getFreeFloatingMassMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2127, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2201, self, varargin{:});
     end
     function varargout = getFrameJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2128, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2202, self, varargin{:});
     end
     function varargout = getDynamicsRegressor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2129, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2203, self, varargin{:});
     end
     function varargout = getModelDynamicsParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2130, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2204, self, varargin{:});
     end
     function varargout = getCenterOfMass(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2131, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2205, self, varargin{:});
     end
     function varargout = getCenterOfMassJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2132, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2206, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorGenerator.m b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorGenerator.m
index acfcabffbde..6a0de5e0bd5 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorGenerator.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorGenerator.m
@@ -9,100 +9,100 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1807, varargin{:});
+        tmp = iDynTreeMEX(1881, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1808, self);
+        iDynTreeMEX(1882, self);
         self.SwigClear();
       end
     end
     function varargout = loadRobotAndSensorsModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1809, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1883, self, varargin{:});
     end
     function varargout = loadRobotAndSensorsModelFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1810, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1884, self, varargin{:});
     end
     function varargout = loadRegressorStructureFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1811, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1885, self, varargin{:});
     end
     function varargout = loadRegressorStructureFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1812, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1886, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1813, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1887, self, varargin{:});
     end
     function varargout = getNrOfParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1814, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1888, self, varargin{:});
     end
     function varargout = getNrOfOutputs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1815, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1889, self, varargin{:});
     end
     function varargout = getNrOfDegreesOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1816, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1890, self, varargin{:});
     end
     function varargout = getDescriptionOfParameter(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1817, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1891, self, varargin{:});
     end
     function varargout = getDescriptionOfParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1818, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1892, self, varargin{:});
     end
     function varargout = getDescriptionOfOutput(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1819, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1893, self, varargin{:});
     end
     function varargout = getDescriptionOfOutputs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1820, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1894, self, varargin{:});
     end
     function varargout = getDescriptionOfDegreeOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1821, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1895, self, varargin{:});
     end
     function varargout = getDescriptionOfDegreesOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1822, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1896, self, varargin{:});
     end
     function varargout = getDescriptionOfLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1823, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1897, self, varargin{:});
     end
     function varargout = getDescriptionOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1824, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1898, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1825, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1899, self, varargin{:});
     end
     function varargout = getNrOfFakeLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1826, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1900, self, varargin{:});
     end
     function varargout = getBaseLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1827, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1901, self, varargin{:});
     end
     function varargout = getSensorsModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1828, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1902, self, varargin{:});
     end
     function varargout = setRobotState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1829, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1903, self, varargin{:});
     end
     function varargout = getSensorsMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1830, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1904, self, varargin{:});
     end
     function varargout = setTorqueSensorMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1831, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1905, self, varargin{:});
     end
     function varargout = computeRegressor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1832, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1906, self, varargin{:});
     end
     function varargout = getModelParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1833, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1907, self, varargin{:});
     end
     function varargout = computeFloatingBaseIdentifiableSubspace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1834, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1908, self, varargin{:});
     end
     function varargout = computeFixedBaseIdentifiableSubspace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1835, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1909, self, varargin{:});
     end
     function varargout = generate_random_regressors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1836, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1910, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParameter.m b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParameter.m
index 2ade16d3e5a..e38cf992aa8 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParameter.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParameter.m
@@ -7,40 +7,40 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1787, self);
+        varargout{1} = iDynTreeMEX(1861, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1788, self, varargin{1});
+        iDynTreeMEX(1862, self, varargin{1});
       end
     end
     function varargout = elemIndex(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1789, self);
+        varargout{1} = iDynTreeMEX(1863, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1790, self, varargin{1});
+        iDynTreeMEX(1864, self, varargin{1});
       end
     end
     function varargout = type(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1791, self);
+        varargout{1} = iDynTreeMEX(1865, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1792, self, varargin{1});
+        iDynTreeMEX(1866, self, varargin{1});
       end
     end
     function varargout = lt(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1793, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1867, self, varargin{:});
     end
     function varargout = eq(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1794, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1868, self, varargin{:});
     end
     function varargout = ne(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1795, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1869, self, varargin{:});
     end
     function self = DynamicsRegressorParameter(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -48,14 +48,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1796, varargin{:});
+        tmp = iDynTreeMEX(1870, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1797, self);
+        iDynTreeMEX(1871, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParametersList.m b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParametersList.m
index 9f2f595d37a..0f2ddd63775 100644
--- a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParametersList.m
+++ b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParametersList.m
@@ -7,26 +7,26 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1798, self);
+        varargout{1} = iDynTreeMEX(1872, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1799, self, varargin{1});
+        iDynTreeMEX(1873, self, varargin{1});
       end
     end
     function varargout = getDescriptionOfParameter(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1800, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1874, self, varargin{:});
     end
     function varargout = addParam(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1801, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1875, self, varargin{:});
     end
     function varargout = addList(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1802, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1876, self, varargin{:});
     end
     function varargout = findParam(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1803, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1877, self, varargin{:});
     end
     function varargout = getNrOfParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1804, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1878, self, varargin{:});
     end
     function self = DynamicsRegressorParametersList(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -34,14 +34,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1805, varargin{:});
+        tmp = iDynTreeMEX(1879, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1806, self);
+        iDynTreeMEX(1880, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m b/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m
index 6b4fbd3040b..fe394d57c58 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m
@@ -9,52 +9,52 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1552, varargin{:});
+        tmp = iDynTreeMEX(1626, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1553, self);
+        iDynTreeMEX(1627, self);
         self.SwigClear();
       end
     end
     function varargout = setModelAndSensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1554, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1628, self, varargin{:});
     end
     function varargout = loadModelAndSensorsFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1555, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1629, self, varargin{:});
     end
     function varargout = loadModelAndSensorsFromFileWithSpecifiedDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1556, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1630, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1557, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1631, self, varargin{:});
     end
     function varargout = sensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1558, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1632, self, varargin{:});
     end
     function varargout = submodels(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1559, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1633, self, varargin{:});
     end
     function varargout = updateKinematicsFromFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1560, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1634, self, varargin{:});
     end
     function varargout = updateKinematicsFromFixedBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1561, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1635, self, varargin{:});
     end
     function varargout = computeExpectedFTSensorsMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1562, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1636, self, varargin{:});
     end
     function varargout = estimateExtWrenchesAndJointTorques(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1563, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1637, self, varargin{:});
     end
     function varargout = checkThatTheModelIsStill(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1564, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1638, self, varargin{:});
     end
     function varargout = estimateLinkNetWrenchesWithoutGravity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1565, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1639, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m b/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m
index 287200d17a3..822b0903d4a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m
@@ -2,31 +2,31 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1138, self);
+        iDynTreeMEX(1162, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1139, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1163, self, varargin{:});
     end
     function varargout = filename(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1140, self);
+        varargout{1} = iDynTreeMEX(1164, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1141, self, varargin{1});
+        iDynTreeMEX(1165, self, varargin{1});
       end
     end
     function varargout = scale(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1142, self);
+        varargout{1} = iDynTreeMEX(1166, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1143, self, varargin{1});
+        iDynTreeMEX(1167, self, varargin{1});
       end
     end
     function self = ExternalMesh(varargin)
@@ -36,7 +36,7 @@ function delete(self)
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1144, varargin{:});
+        tmp = iDynTreeMEX(1168, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_INDEX.m
index c81d07b49cb..da2e1aa30af 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_INDEX.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_INDEX.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(861);
+    varargout{1} = iDynTreeMEX(885);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(862,varargin{1});
+    iDynTreeMEX(886,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_NAME.m b/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_NAME.m
index bdc5403896d..e9f55145e8b 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_NAME.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_NAME.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(863);
+    varargout{1} = iDynTreeMEX(887);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(864,varargin{1});
+    iDynTreeMEX(888,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m b/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m
index 2a360aa4e2b..60db2a657ff 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m
@@ -7,103 +7,103 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(947, varargin{:});
+        tmp = iDynTreeMEX(971, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(948, self);
+        iDynTreeMEX(972, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(949, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(973, self, varargin{:});
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(950, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(974, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(951, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(975, self, varargin{:});
     end
     function varargout = setAttachedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(952, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(976, self, varargin{:});
     end
     function varargout = setRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(953, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(977, self, varargin{:});
     end
     function varargout = getFirstAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(954, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(978, self, varargin{:});
     end
     function varargout = getSecondAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(955, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(979, self, varargin{:});
     end
     function varargout = getRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(956, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(980, self, varargin{:});
     end
     function varargout = getTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(957, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(981, self, varargin{:});
     end
     function varargout = getTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(958, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(982, self, varargin{:});
     end
     function varargout = getMotionSubspaceVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(959, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(983, self, varargin{:});
     end
     function varargout = computeChildPosVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(960, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(984, self, varargin{:});
     end
     function varargout = computeChildVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(961, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(985, self, varargin{:});
     end
     function varargout = computeChildVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(962, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(986, self, varargin{:});
     end
     function varargout = computeChildAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(963, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(987, self, varargin{:});
     end
     function varargout = computeChildBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(964, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(988, self, varargin{:});
     end
     function varargout = computeJointTorque(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(965, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(989, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(966, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(990, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(967, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(991, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(968, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(992, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(969, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(993, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(970, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(994, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(971, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(995, self, varargin{:});
     end
     function varargout = hasPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(972, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(996, self, varargin{:});
     end
     function varargout = enablePosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(973, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(997, self, varargin{:});
     end
     function varargout = getPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(974, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(998, self, varargin{:});
     end
     function varargout = getMinPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(975, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(999, self, varargin{:});
     end
     function varargout = getMaxPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(976, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1000, self, varargin{:});
     end
     function varargout = setPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(977, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1001, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m
index 57e492b69bc..56c4f02e728 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m
@@ -7,24 +7,24 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(491, varargin{:});
+        tmp = iDynTreeMEX(515, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(494, self);
+        iDynTreeMEX(518, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(492, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(516, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(493, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(517, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m
index 628089e2ec7..43ee9a24ec3 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m
@@ -7,24 +7,24 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(487, varargin{:});
+        tmp = iDynTreeMEX(511, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(490, self);
+        iDynTreeMEX(514, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(488, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(512, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(489, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(513, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m
index cc18b5875e0..f2307c246cd 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m
@@ -7,14 +7,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(503, varargin{:});
+        tmp = iDynTreeMEX(527, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(504, self);
+        iDynTreeMEX(528, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m
index e068aca57e6..65b895e3766 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m
@@ -7,14 +7,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(501, varargin{:});
+        tmp = iDynTreeMEX(525, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(502, self);
+        iDynTreeMEX(526, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m
index 14c270490ba..553ac412e81 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m
@@ -1,3 +1,3 @@
 function varargout = ForwardAccKinematics(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1270, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1344, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m
index ff45a4bbd7a..80c19d4781c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m
@@ -1,3 +1,3 @@
 function varargout = ForwardBiasAccKinematics(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1271, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1345, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m
index f755fcebc8b..134d1e1ced3 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m
@@ -1,3 +1,3 @@
 function varargout = ForwardPosVelAccKinematics(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1268, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1342, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m
index 910054ba880..096ee159168 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m
@@ -1,3 +1,3 @@
 function varargout = ForwardPosVelKinematics(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1269, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1343, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m
index c5c58f5520a..e896058ab79 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m
@@ -1,3 +1,3 @@
 function varargout = ForwardPositionKinematics(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1266, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1340, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m
index 7a5e705531d..0e7aa5b6b89 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m
@@ -1,3 +1,3 @@
 function varargout = ForwardVelAccKinematics(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1267, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1341, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m b/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m
index bf6d8d057cd..a84656c4fab 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m
@@ -7,20 +7,20 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1217, varargin{:});
+        tmp = iDynTreeMEX(1241, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1218, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1242, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1219, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1243, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1220, self);
+        iDynTreeMEX(1244, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m
index ee6ae5cb6a5..36c66b6b8a2 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m
@@ -9,26 +9,26 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1246, varargin{:});
+        tmp = iDynTreeMEX(1270, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1247, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1271, self, varargin{:});
     end
     function varargout = baseAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1248, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1272, self, varargin{:});
     end
     function varargout = jointAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1249, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1273, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1250, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1274, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1251, self);
+        iDynTreeMEX(1275, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m
index c372c34a329..8207708095e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m
@@ -9,26 +9,26 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1234, varargin{:});
+        tmp = iDynTreeMEX(1258, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1235, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1259, self, varargin{:});
     end
     function varargout = baseWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1236, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1260, self, varargin{:});
     end
     function varargout = jointTorques(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1237, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1261, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1238, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1262, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1239, self);
+        iDynTreeMEX(1263, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m
index a2ec7e2004b..fc55fa227ee 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m
@@ -7,17 +7,17 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1225, varargin{:});
+        tmp = iDynTreeMEX(1249, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1226, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1250, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1227, self);
+        iDynTreeMEX(1251, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m
index 642a5016b3b..b2b1ede3f5e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m
@@ -9,26 +9,26 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1228, varargin{:});
+        tmp = iDynTreeMEX(1252, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1229, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1253, self, varargin{:});
     end
     function varargout = worldBasePos(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1230, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1254, self, varargin{:});
     end
     function varargout = jointPos(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1231, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1255, self, varargin{:});
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1232, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1256, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1233, self);
+        iDynTreeMEX(1257, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m
index 882f62b5140..500bc904ade 100644
--- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m
+++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m
@@ -9,26 +9,26 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1240, varargin{:});
+        tmp = iDynTreeMEX(1264, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1241, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1265, self, varargin{:});
     end
     function varargout = baseVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1242, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1266, self, varargin{:});
     end
     function varargout = jointVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1243, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1267, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1244, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1268, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1245, self);
+        iDynTreeMEX(1269, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m
index 60946d4c151..d4b859be30e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m
@@ -9,45 +9,45 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(428, varargin{:});
+        tmp = iDynTreeMEX(452, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(429, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(453, self, varargin{:});
     end
     function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(430, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(454, self, varargin{:});
     end
     function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(431, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(455, self, varargin{:});
     end
     function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(432, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(456, self, varargin{:});
     end
     function varargout = isUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(433, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(457, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(434, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(458, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(437, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(461, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(438, self);
+        iDynTreeMEX(462, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(435, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(459, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(436, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(460, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m
index 4afb808d32b..1922032add5 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m
@@ -9,45 +9,45 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(406, varargin{:});
+        tmp = iDynTreeMEX(430, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(407, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(431, self, varargin{:});
     end
     function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(408, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(432, self, varargin{:});
     end
     function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(409, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(433, self, varargin{:});
     end
     function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(410, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(434, self, varargin{:});
     end
     function varargout = isUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(411, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(435, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(412, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(436, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(415, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(439, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(416, self);
+        iDynTreeMEX(440, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(413, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(437, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(414, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(438, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m
index efa3e2048e9..c8bc9211f79 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m
@@ -9,45 +9,45 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(417, varargin{:});
+        tmp = iDynTreeMEX(441, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(418, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(442, self, varargin{:});
     end
     function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(419, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(443, self, varargin{:});
     end
     function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(420, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(444, self, varargin{:});
     end
     function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(421, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(445, self, varargin{:});
     end
     function varargout = isUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(422, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(446, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(423, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(447, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(426, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(450, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(427, self);
+        iDynTreeMEX(451, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(424, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(448, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(425, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(449, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m
index 9fdcb7a7ec4..4a2fc48ca36 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m
@@ -9,45 +9,45 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(395, varargin{:});
+        tmp = iDynTreeMEX(419, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(396, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(420, self, varargin{:});
     end
     function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(397, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(421, self, varargin{:});
     end
     function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(398, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(422, self, varargin{:});
     end
     function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(399, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(423, self, varargin{:});
     end
     function varargout = isUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(400, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(424, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(401, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(425, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(404, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(428, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(405, self);
+        iDynTreeMEX(429, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(402, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(426, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(403, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(427, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m
index e1183942ef5..47728056a56 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m
@@ -4,10 +4,10 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(475, self);
+        varargout{1} = iDynTreeMEX(499, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(476, self, varargin{1});
+        iDynTreeMEX(500, self, varargin{1});
       end
     end
     function self = GeomVector3__AngularForceVector3(varargin)
@@ -17,42 +17,42 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(477, varargin{:});
+        tmp = iDynTreeMEX(501, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(478, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(502, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(479, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(503, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(482, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(506, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(483, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(507, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(484, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(508, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(485, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(509, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(486, self);
+        iDynTreeMEX(510, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(480, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(504, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(481, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(505, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m
index 0334154d3d4..fe7fc8d9427 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m
@@ -4,10 +4,10 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(451, self);
+        varargout{1} = iDynTreeMEX(475, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(452, self, varargin{1});
+        iDynTreeMEX(476, self, varargin{1});
       end
     end
     function self = GeomVector3__AngularMotionVector3(varargin)
@@ -17,42 +17,42 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(453, varargin{:});
+        tmp = iDynTreeMEX(477, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(454, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(478, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(455, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(479, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(458, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(482, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(459, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(483, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(460, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(484, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(461, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(485, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(462, self);
+        iDynTreeMEX(486, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(456, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(480, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(457, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(481, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m
index 8fe528f9265..a064640efab 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m
@@ -4,10 +4,10 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(463, self);
+        varargout{1} = iDynTreeMEX(487, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(464, self, varargin{1});
+        iDynTreeMEX(488, self, varargin{1});
       end
     end
     function self = GeomVector3__LinearForceVector3(varargin)
@@ -17,42 +17,42 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(465, varargin{:});
+        tmp = iDynTreeMEX(489, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(466, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(490, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(467, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(491, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(470, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(494, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(471, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(495, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(472, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(496, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(473, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(497, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(474, self);
+        iDynTreeMEX(498, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(468, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(492, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(469, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(493, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m
index ae9a8322e1f..7fb0d210a5e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m
@@ -4,10 +4,10 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(439, self);
+        varargout{1} = iDynTreeMEX(463, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(440, self, varargin{1});
+        iDynTreeMEX(464, self, varargin{1});
       end
     end
     function self = GeomVector3__LinearMotionVector3(varargin)
@@ -17,42 +17,42 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(441, varargin{:});
+        tmp = iDynTreeMEX(465, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(442, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(466, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(443, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(467, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(446, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(470, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(447, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(471, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(448, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(472, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(449, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(473, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(450, self);
+        iDynTreeMEX(474, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(444, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(468, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(445, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(469, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m b/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m
index c14b4383b5d..412b2ffb496 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m
@@ -7,58 +7,58 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1399, varargin{:});
+        tmp = iDynTreeMEX(1473, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1400, self);
+        iDynTreeMEX(1474, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1401, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1475, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1402, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1476, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1403, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1477, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1404, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1478, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1405, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1479, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1406, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1480, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1407, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1481, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1408, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1482, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1409, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1483, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1410, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1484, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1411, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1485, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1412, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1486, self, varargin{:});
     end
     function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1413, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1487, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1414, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1488, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/IAttitudeEstimator.m b/bindings/matlab/autogenerated/+iDynTree/IAttitudeEstimator.m
index a1bf03639cc..bc3e09d9e87 100644
--- a/bindings/matlab/autogenerated/+iDynTree/IAttitudeEstimator.m
+++ b/bindings/matlab/autogenerated/+iDynTree/IAttitudeEstimator.m
@@ -5,39 +5,39 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1676, self);
+        iDynTreeMEX(1750, self);
         self.SwigClear();
       end
     end
     function varargout = updateFilterWithMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1677, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1751, self, varargin{:});
     end
     function varargout = propagateStates(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1678, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1752, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsRotationMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1679, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1753, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsQuaternion(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1680, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1754, self, varargin{:});
     end
     function varargout = getOrientationEstimateAsRPY(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1681, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1755, self, varargin{:});
     end
     function varargout = getInternalStateSize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1682, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1756, self, varargin{:});
     end
     function varargout = getInternalState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1683, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1757, self, varargin{:});
     end
     function varargout = getDefaultInternalInitialState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1684, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1758, self, varargin{:});
     end
     function varargout = setInternalState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1685, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1759, self, varargin{:});
     end
     function varargout = setInternalStateInitialOrientation(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1686, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1760, self, varargin{:});
     end
     function self = IAttitudeEstimator(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/ICamera.m b/bindings/matlab/autogenerated/+iDynTree/ICamera.m
index 20e934fd8c7..9dbfa527017 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ICamera.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ICamera.m
@@ -5,18 +5,18 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1892, self);
+        iDynTreeMEX(1966, self);
         self.SwigClear();
       end
     end
     function varargout = setPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1893, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1967, self, varargin{:});
     end
     function varargout = setTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1894, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1968, self, varargin{:});
     end
     function varargout = setUpVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1895, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1969, self, varargin{:});
     end
     function self = ICamera(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/IEnvironment.m b/bindings/matlab/autogenerated/+iDynTree/IEnvironment.m
index 98115436721..e8eba389758 100644
--- a/bindings/matlab/autogenerated/+iDynTree/IEnvironment.m
+++ b/bindings/matlab/autogenerated/+iDynTree/IEnvironment.m
@@ -5,33 +5,33 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1920, self);
+        iDynTreeMEX(1994, self);
         self.SwigClear();
       end
     end
     function varargout = getElements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1921, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1995, self, varargin{:});
     end
     function varargout = setElementVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1922, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1996, self, varargin{:});
     end
     function varargout = setBackgroundColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1923, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1997, self, varargin{:});
     end
     function varargout = setAmbientLight(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1924, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1998, self, varargin{:});
     end
     function varargout = getLights(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1925, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1999, self, varargin{:});
     end
     function varargout = addLight(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1926, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2000, self, varargin{:});
     end
     function varargout = lightViz(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1927, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2001, self, varargin{:});
     end
     function varargout = removeLight(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1928, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2002, self, varargin{:});
     end
     function self = IEnvironment(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/IJetsVisualization.m b/bindings/matlab/autogenerated/+iDynTree/IJetsVisualization.m
index 93e027059df..5458ef8b37a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/IJetsVisualization.m
+++ b/bindings/matlab/autogenerated/+iDynTree/IJetsVisualization.m
@@ -5,30 +5,30 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1929, self);
+        iDynTreeMEX(2003, self);
         self.SwigClear();
       end
     end
     function varargout = setJetsFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1930, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2004, self, varargin{:});
     end
     function varargout = getNrOfJets(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1931, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2005, self, varargin{:});
     end
     function varargout = getJetDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1932, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2006, self, varargin{:});
     end
     function varargout = setJetDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1933, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2007, self, varargin{:});
     end
     function varargout = setJetColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1934, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2008, self, varargin{:});
     end
     function varargout = setJetsDimensions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1935, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2009, self, varargin{:});
     end
     function varargout = setJetsIntensity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1936, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2010, self, varargin{:});
     end
     function self = IJetsVisualization(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/IJoint.m b/bindings/matlab/autogenerated/+iDynTree/IJoint.m
index 4e46880cedc..6dbdaf945b1 100644
--- a/bindings/matlab/autogenerated/+iDynTree/IJoint.m
+++ b/bindings/matlab/autogenerated/+iDynTree/IJoint.m
@@ -5,108 +5,108 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(913, self);
+        iDynTreeMEX(937, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(914, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(938, self, varargin{:});
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(915, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(939, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(916, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(940, self, varargin{:});
     end
     function varargout = setAttachedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(917, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(941, self, varargin{:});
     end
     function varargout = setRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(918, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(942, self, varargin{:});
     end
     function varargout = getFirstAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(919, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(943, self, varargin{:});
     end
     function varargout = getSecondAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(920, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(944, self, varargin{:});
     end
     function varargout = getRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(921, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(945, self, varargin{:});
     end
     function varargout = getTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(922, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(946, self, varargin{:});
     end
     function varargout = getTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(923, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(947, self, varargin{:});
     end
     function varargout = getMotionSubspaceVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(924, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(948, self, varargin{:});
     end
     function varargout = computeChildPosVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(925, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(949, self, varargin{:});
     end
     function varargout = computeChildVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(926, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(950, self, varargin{:});
     end
     function varargout = computeChildVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(927, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(951, self, varargin{:});
     end
     function varargout = computeChildAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(928, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(952, self, varargin{:});
     end
     function varargout = computeChildBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(929, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(953, self, varargin{:});
     end
     function varargout = computeJointTorque(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(930, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(954, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(931, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(955, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(932, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(956, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(933, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(957, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(934, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(958, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(935, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(959, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(936, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(960, self, varargin{:});
     end
     function varargout = hasPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(937, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(961, self, varargin{:});
     end
     function varargout = enablePosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(938, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(962, self, varargin{:});
     end
     function varargout = getPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(939, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(963, self, varargin{:});
     end
     function varargout = getMinPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(940, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(964, self, varargin{:});
     end
     function varargout = getMaxPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(941, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(965, self, varargin{:});
     end
     function varargout = setPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(942, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(966, self, varargin{:});
     end
     function varargout = isRevoluteJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(943, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(967, self, varargin{:});
     end
     function varargout = isFixedJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(944, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(968, self, varargin{:});
     end
     function varargout = asRevoluteJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(945, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(969, self, varargin{:});
     end
     function varargout = asFixedJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(946, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(970, self, varargin{:});
     end
     function self = IJoint(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/ILight.m b/bindings/matlab/autogenerated/+iDynTree/ILight.m
index 295ef54d0b8..ccb0f7dbf31 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ILight.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ILight.m
@@ -5,48 +5,48 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1906, self);
+        iDynTreeMEX(1980, self);
         self.SwigClear();
       end
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1907, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1981, self, varargin{:});
     end
     function varargout = setType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1908, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1982, self, varargin{:});
     end
     function varargout = getType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1909, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1983, self, varargin{:});
     end
     function varargout = setPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1910, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1984, self, varargin{:});
     end
     function varargout = getPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1911, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1985, self, varargin{:});
     end
     function varargout = setDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1912, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1986, self, varargin{:});
     end
     function varargout = getDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1913, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1987, self, varargin{:});
     end
     function varargout = setAmbientColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1914, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1988, self, varargin{:});
     end
     function varargout = getAmbientColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1915, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1989, self, varargin{:});
     end
     function varargout = setSpecularColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1916, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1990, self, varargin{:});
     end
     function varargout = getSpecularColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1917, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1991, self, varargin{:});
     end
     function varargout = setDiffuseColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1918, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1992, self, varargin{:});
     end
     function varargout = getDiffuseColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1919, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1993, self, varargin{:});
     end
     function self = ILight(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m b/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m
index a70a8a557d3..bc91bc1bd62 100644
--- a/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m
+++ b/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m
@@ -5,57 +5,57 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1944, self);
+        iDynTreeMEX(2018, self);
         self.SwigClear();
       end
     end
     function varargout = setPositions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1945, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2019, self, varargin{:});
     end
     function varargout = setLinkPositions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1946, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2020, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1947, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2021, self, varargin{:});
     end
     function varargout = getInstanceName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1948, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2022, self, varargin{:});
     end
     function varargout = setModelVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1949, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2023, self, varargin{:});
     end
     function varargout = setModelColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1950, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2024, self, varargin{:});
     end
     function varargout = resetModelColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1951, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2025, self, varargin{:});
     end
     function varargout = setLinkColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1952, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2026, self, varargin{:});
     end
     function varargout = resetLinkColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1953, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2027, self, varargin{:});
     end
     function varargout = getLinkNames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1954, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2028, self, varargin{:});
     end
     function varargout = setLinkVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1955, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2029, self, varargin{:});
     end
     function varargout = getFeatures(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1956, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2030, self, varargin{:});
     end
     function varargout = setFeatureVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1957, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2031, self, varargin{:});
     end
     function varargout = jets(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1958, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2032, self, varargin{:});
     end
     function varargout = getWorldModelTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1959, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2033, self, varargin{:});
     end
     function varargout = getWorldLinkTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1960, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2034, self, varargin{:});
     end
     function self = IModelVisualization(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/IVectorsVisualization.m b/bindings/matlab/autogenerated/+iDynTree/IVectorsVisualization.m
index fadc3b442be..d7498d4a991 100644
--- a/bindings/matlab/autogenerated/+iDynTree/IVectorsVisualization.m
+++ b/bindings/matlab/autogenerated/+iDynTree/IVectorsVisualization.m
@@ -5,27 +5,27 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1937, self);
+        iDynTreeMEX(2011, self);
         self.SwigClear();
       end
     end
     function varargout = addVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1938, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2012, self, varargin{:});
     end
     function varargout = getNrOfVectors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1939, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2013, self, varargin{:});
     end
     function varargout = getVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1940, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2014, self, varargin{:});
     end
     function varargout = updateVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1941, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2015, self, varargin{:});
     end
     function varargout = setVectorColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1942, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2016, self, varargin{:});
     end
     function varargout = setVectorsAspect(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1943, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2017, self, varargin{:});
     end
     function self = IVectorsVisualization(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/InverseDynamicsInertialParametersRegressor.m b/bindings/matlab/autogenerated/+iDynTree/InverseDynamicsInertialParametersRegressor.m
index fd7fb4ac6c4..0620288c6ab 100644
--- a/bindings/matlab/autogenerated/+iDynTree/InverseDynamicsInertialParametersRegressor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/InverseDynamicsInertialParametersRegressor.m
@@ -1,3 +1,3 @@
 function varargout = InverseDynamicsInertialParametersRegressor(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1299, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1373, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/InverseKinematics.m b/bindings/matlab/autogenerated/+iDynTree/InverseKinematics.m
index 7fb3145f28e..71655750f9d 100644
--- a/bindings/matlab/autogenerated/+iDynTree/InverseKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/InverseKinematics.m
@@ -9,202 +9,202 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(2033, varargin{:});
+        tmp = iDynTreeMEX(2107, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(2034, self);
+        iDynTreeMEX(2108, self);
         self.SwigClear();
       end
     end
     function varargout = loadModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2035, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2109, self, varargin{:});
     end
     function varargout = setModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2036, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2110, self, varargin{:});
     end
     function varargout = setJointLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2037, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2111, self, varargin{:});
     end
     function varargout = getJointLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2038, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2112, self, varargin{:});
     end
     function varargout = clearProblem(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2039, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2113, self, varargin{:});
     end
     function varargout = setFloatingBaseOnFrameNamed(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2040, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2114, self, varargin{:});
     end
     function varargout = setRobotConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2041, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2115, self, varargin{:});
     end
     function varargout = setCurrentRobotConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2042, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2116, self, varargin{:});
     end
     function varargout = setJointConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2043, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2117, self, varargin{:});
     end
     function varargout = setRotationParametrization(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2044, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2118, self, varargin{:});
     end
     function varargout = rotationParametrization(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2045, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2119, self, varargin{:});
     end
     function varargout = setMaxIterations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2046, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2120, self, varargin{:});
     end
     function varargout = maxIterations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2047, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2121, self, varargin{:});
     end
     function varargout = setMaxCPUTime(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2048, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2122, self, varargin{:});
     end
     function varargout = maxCPUTime(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2049, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2123, self, varargin{:});
     end
     function varargout = setCostTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2050, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2124, self, varargin{:});
     end
     function varargout = costTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2051, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2125, self, varargin{:});
     end
     function varargout = setConstraintsTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2052, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2126, self, varargin{:});
     end
     function varargout = constraintsTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2053, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2127, self, varargin{:});
     end
     function varargout = setVerbosity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2054, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2128, self, varargin{:});
     end
     function varargout = linearSolverName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2055, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2129, self, varargin{:});
     end
     function varargout = setLinearSolverName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2056, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2130, self, varargin{:});
     end
     function varargout = addFrameConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2057, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2131, self, varargin{:});
     end
     function varargout = addFramePositionConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2058, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2132, self, varargin{:});
     end
     function varargout = addFrameRotationConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2059, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2133, self, varargin{:});
     end
     function varargout = activateFrameConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2060, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2134, self, varargin{:});
     end
     function varargout = deactivateFrameConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2061, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2135, self, varargin{:});
     end
     function varargout = isFrameConstraintActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2062, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2136, self, varargin{:});
     end
     function varargout = addCenterOfMassProjectionConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2063, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2137, self, varargin{:});
     end
     function varargout = getCenterOfMassProjectionMargin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2064, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2138, self, varargin{:});
     end
     function varargout = getCenterOfMassProjectConstraintConvexHull(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2065, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2139, self, varargin{:});
     end
     function varargout = addTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2066, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2140, self, varargin{:});
     end
     function varargout = addPositionTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2067, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2141, self, varargin{:});
     end
     function varargout = addRotationTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2068, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2142, self, varargin{:});
     end
     function varargout = updateTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2069, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2143, self, varargin{:});
     end
     function varargout = updatePositionTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2070, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2144, self, varargin{:});
     end
     function varargout = updateRotationTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2071, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2145, self, varargin{:});
     end
     function varargout = setDefaultTargetResolutionMode(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2072, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2146, self, varargin{:});
     end
     function varargout = defaultTargetResolutionMode(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2073, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2147, self, varargin{:});
     end
     function varargout = setTargetResolutionMode(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2074, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2148, self, varargin{:});
     end
     function varargout = targetResolutionMode(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2075, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2149, self, varargin{:});
     end
     function varargout = setDesiredJointConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2076, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2150, self, varargin{:});
     end
     function varargout = setDesiredFullJointsConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2077, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2151, self, varargin{:});
     end
     function varargout = setDesiredReducedJointConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2078, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2152, self, varargin{:});
     end
     function varargout = setInitialCondition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2079, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2153, self, varargin{:});
     end
     function varargout = setFullJointsInitialCondition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2080, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2154, self, varargin{:});
     end
     function varargout = setReducedInitialCondition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2081, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2155, self, varargin{:});
     end
     function varargout = solve(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2082, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2156, self, varargin{:});
     end
     function varargout = getSolution(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2083, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2157, self, varargin{:});
     end
     function varargout = getFullJointsSolution(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2084, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2158, self, varargin{:});
     end
     function varargout = getReducedSolution(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2085, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2159, self, varargin{:});
     end
     function varargout = getPoseForFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2086, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2160, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2087, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2161, self, varargin{:});
     end
     function varargout = fullModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2088, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2162, self, varargin{:});
     end
     function varargout = reducedModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2089, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2163, self, varargin{:});
     end
     function varargout = setCOMTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2090, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2164, self, varargin{:});
     end
     function varargout = setCOMAsConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2091, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2165, self, varargin{:});
     end
     function varargout = setCOMAsConstraintTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2092, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2166, self, varargin{:});
     end
     function varargout = isCOMAConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2093, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2167, self, varargin{:});
     end
     function varargout = isCOMTargetActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2094, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2168, self, varargin{:});
     end
     function varargout = deactivateCOMTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2095, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2169, self, varargin{:});
     end
     function varargout = setCOMConstraintProjectionDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2096, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2170, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m
index af3b38c0378..d67c3eb24f4 100644
--- a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m
+++ b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(853);
+    varargout{1} = iDynTreeMEX(877);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(854,varargin{1});
+    iDynTreeMEX(878,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_NAME.m b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_NAME.m
index e5bdcf4bacc..618687bd5be 100644
--- a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_NAME.m
+++ b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_NAME.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(855);
+    varargout{1} = iDynTreeMEX(879);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(856,varargin{1});
+    iDynTreeMEX(880,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m b/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m
index 6b460d35cb5..6b83e676e91 100644
--- a/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m
+++ b/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m
@@ -7,20 +7,20 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1203, varargin{:});
+        tmp = iDynTreeMEX(1227, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1204, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1228, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1205, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1229, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1206, self);
+        iDynTreeMEX(1230, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m b/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m
index 59bc92624cd..e118500ffe1 100644
--- a/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m
+++ b/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m
@@ -7,20 +7,20 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1199, varargin{:});
+        tmp = iDynTreeMEX(1223, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1200, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1224, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1201, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1225, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1202, self);
+        iDynTreeMEX(1226, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/JointSensor.m b/bindings/matlab/autogenerated/+iDynTree/JointSensor.m
index 70ba7f5981d..e69d28c0d28 100644
--- a/bindings/matlab/autogenerated/+iDynTree/JointSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/JointSensor.m
@@ -2,24 +2,24 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1313, self);
+        iDynTreeMEX(1387, self);
         self.SwigClear();
       end
     end
     function varargout = getParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1314, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1388, self, varargin{:});
     end
     function varargout = getParentJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1315, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1389, self, varargin{:});
     end
     function varargout = setParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1316, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1390, self, varargin{:});
     end
     function varargout = setParentJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1317, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1391, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1318, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1392, self, varargin{:});
     end
     function self = JointSensor(varargin)
       self@iDynTree.Sensor(SwigRef.Null);
diff --git a/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m b/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m
index 9a2a1449e5d..57cc7073a6d 100644
--- a/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m
+++ b/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m
@@ -9,175 +9,175 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1837, varargin{:});
+        tmp = iDynTreeMEX(1911, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1838, self);
+        iDynTreeMEX(1912, self);
         self.SwigClear();
       end
     end
     function varargout = loadRobotModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1839, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1913, self, varargin{:});
     end
     function varargout = loadRobotModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1840, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1914, self, varargin{:});
     end
     function varargout = loadRobotModelFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1841, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1915, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1842, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1916, self, varargin{:});
     end
     function varargout = setFrameVelocityRepresentation(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1843, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1917, self, varargin{:});
     end
     function varargout = getFrameVelocityRepresentation(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1844, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1918, self, varargin{:});
     end
     function varargout = getNrOfDegreesOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1845, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1919, self, varargin{:});
     end
     function varargout = getDescriptionOfDegreeOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1846, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1920, self, varargin{:});
     end
     function varargout = getDescriptionOfDegreesOfFreedom(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1847, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1921, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1848, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1922, self, varargin{:});
     end
     function varargout = getNrOfFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1849, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1923, self, varargin{:});
     end
     function varargout = getFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1850, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1924, self, varargin{:});
     end
     function varargout = setFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1851, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1925, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1852, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1926, self, varargin{:});
     end
     function varargout = getRobotModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1853, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1927, self, varargin{:});
     end
     function varargout = getRelativeJacobianSparsityPattern(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1854, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1928, self, varargin{:});
     end
     function varargout = getFrameFreeFloatingJacobianSparsityPattern(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1855, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1929, self, varargin{:});
     end
     function varargout = setJointPos(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1856, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1930, self, varargin{:});
     end
     function varargout = setRobotState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1857, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1931, self, varargin{:});
     end
     function varargout = getRobotState(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1858, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1932, self, varargin{:});
     end
     function varargout = getWorldBaseTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1859, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1933, self, varargin{:});
     end
     function varargout = getBaseTwist(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1860, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1934, self, varargin{:});
     end
     function varargout = getJointPos(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1861, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1935, self, varargin{:});
     end
     function varargout = getJointVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1862, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1936, self, varargin{:});
     end
     function varargout = getModelVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1863, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1937, self, varargin{:});
     end
     function varargout = getFrameIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1864, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1938, self, varargin{:});
     end
     function varargout = getFrameName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1865, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1939, self, varargin{:});
     end
     function varargout = getWorldTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1866, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1940, self, varargin{:});
     end
     function varargout = getRelativeTransformExplicit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1867, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1941, self, varargin{:});
     end
     function varargout = getRelativeTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1868, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1942, self, varargin{:});
     end
     function varargout = getFrameVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1869, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1943, self, varargin{:});
     end
     function varargout = getFrameAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1870, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1944, self, varargin{:});
     end
     function varargout = getFrameFreeFloatingJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1871, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1945, self, varargin{:});
     end
     function varargout = getRelativeJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1872, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1946, self, varargin{:});
     end
     function varargout = getRelativeJacobianExplicit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1873, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1947, self, varargin{:});
     end
     function varargout = getFrameBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1874, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1948, self, varargin{:});
     end
     function varargout = getCenterOfMassPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1875, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1949, self, varargin{:});
     end
     function varargout = getCenterOfMassVelocity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1876, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1950, self, varargin{:});
     end
     function varargout = getCenterOfMassJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1877, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1951, self, varargin{:});
     end
     function varargout = getCenterOfMassBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1878, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1952, self, varargin{:});
     end
     function varargout = getAverageVelocity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1879, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1953, self, varargin{:});
     end
     function varargout = getAverageVelocityJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1880, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1954, self, varargin{:});
     end
     function varargout = getCentroidalAverageVelocity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1881, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1955, self, varargin{:});
     end
     function varargout = getCentroidalAverageVelocityJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1882, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1956, self, varargin{:});
     end
     function varargout = getLinearAngularMomentum(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1883, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1957, self, varargin{:});
     end
     function varargout = getLinearAngularMomentumJacobian(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1884, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1958, self, varargin{:});
     end
     function varargout = getCentroidalTotalMomentum(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1885, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1959, self, varargin{:});
     end
     function varargout = getFreeFloatingMassMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1886, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1960, self, varargin{:});
     end
     function varargout = inverseDynamics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1887, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1961, self, varargin{:});
     end
     function varargout = generalizedBiasForces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1888, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1962, self, varargin{:});
     end
     function varargout = generalizedGravityForces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1889, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1963, self, varargin{:});
     end
     function varargout = generalizedExternalForces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1890, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1964, self, varargin{:});
     end
     function varargout = inverseDynamicsInertialParametersRegressor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1891, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1965, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m
index 3aa319c7ce5..50b3bf0377b 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(849);
+    varargout{1} = iDynTreeMEX(873);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(850,varargin{1});
+    iDynTreeMEX(874,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_NAME.m b/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_NAME.m
index 249fb3443bd..f3ac8d46e2f 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_NAME.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_NAME.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(851);
+    varargout{1} = iDynTreeMEX(875);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(852,varargin{1});
+    iDynTreeMEX(876,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m
index 49630fdd357..655a3fc4a98 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m
@@ -7,14 +7,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(519, varargin{:});
+        tmp = iDynTreeMEX(543, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(520, self);
+        iDynTreeMEX(544, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m
index c794a817f35..805188a5516 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m
@@ -7,14 +7,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(517, varargin{:});
+        tmp = iDynTreeMEX(541, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(518, self);
+        iDynTreeMEX(542, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m
index ce892e021ff..0c6c195179f 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m
@@ -7,17 +7,17 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(509, varargin{:});
+        tmp = iDynTreeMEX(533, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(510, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(534, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(511, self);
+        iDynTreeMEX(535, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m
index 7164aa1e8e2..47ab595357a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m
@@ -7,24 +7,24 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(505, varargin{:});
+        tmp = iDynTreeMEX(529, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(506, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(530, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(508, self);
+        iDynTreeMEX(532, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(507, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(531, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Link.m b/bindings/matlab/autogenerated/+iDynTree/Link.m
index dc97dd54cfd..e09de17dfa9 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Link.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Link.m
@@ -9,29 +9,29 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(906, varargin{:});
+        tmp = iDynTreeMEX(930, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = inertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(907, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(931, self, varargin{:});
     end
     function varargout = setInertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(908, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(932, self, varargin{:});
     end
     function varargout = getInertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(909, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(933, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(910, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(934, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(911, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(935, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(912, self);
+        iDynTreeMEX(936, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m b/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m
index a0e4c4d29c5..9437f7df380 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m
@@ -9,29 +9,29 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(899, varargin{:});
+        tmp = iDynTreeMEX(923, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(900, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(924, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(901, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(925, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(902, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(926, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(903, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(927, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(904, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(928, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(905, self);
+        iDynTreeMEX(929, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m b/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m
index a92421e2615..d4d5c4e1d59 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m
@@ -9,23 +9,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(887, varargin{:});
+        tmp = iDynTreeMEX(911, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(888, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(912, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(889, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(913, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(890, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(914, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(891, self);
+        iDynTreeMEX(915, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m b/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m
index 7614a50d381..e6a8b840eb2 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m
@@ -9,35 +9,35 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1257, varargin{:});
+        tmp = iDynTreeMEX(1281, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1258, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1282, self, varargin{:});
     end
     function varargout = getNrOfContactsForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1259, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1283, self, varargin{:});
     end
     function varargout = setNrOfContactsForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1260, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1284, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1261, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1285, self, varargin{:});
     end
     function varargout = contactWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1262, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1286, self, varargin{:});
     end
     function varargout = computeNetWrenches(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1263, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1287, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1264, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1288, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1265, self);
+        iDynTreeMEX(1289, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m b/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m
index 479d79ab1d6..3841cbdc3df 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m
@@ -9,23 +9,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(882, varargin{:});
+        tmp = iDynTreeMEX(906, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(883, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(907, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(884, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(908, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(885, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(909, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(886, self);
+        iDynTreeMEX(910, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m b/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m
index 7b29348d9df..de836aeee19 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m
@@ -9,29 +9,29 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(867, varargin{:});
+        tmp = iDynTreeMEX(891, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(868, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(892, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(869, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(893, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(870, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(894, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(871, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(895, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(872, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(896, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(873, self);
+        iDynTreeMEX(897, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m b/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m
index 09b16c79aa6..b5e8b0ed74d 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m
@@ -2,30 +2,30 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1319, self);
+        iDynTreeMEX(1393, self);
         self.SwigClear();
       end
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1320, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1394, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1321, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1395, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1322, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1396, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1323, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1397, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1324, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1398, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1325, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1399, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1326, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1400, self, varargin{:});
     end
     function self = LinkSensor(varargin)
       self@iDynTree.Sensor(SwigRef.Null);
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkUnknownWrenchContacts.m b/bindings/matlab/autogenerated/+iDynTree/LinkUnknownWrenchContacts.m
index ff80f85b25e..62a0e03a7d0 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkUnknownWrenchContacts.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkUnknownWrenchContacts.m
@@ -9,41 +9,41 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1517, varargin{:});
+        tmp = iDynTreeMEX(1591, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = clear(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1518, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1592, self, varargin{:});
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1519, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1593, self, varargin{:});
     end
     function varargout = getNrOfContactsForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1520, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1594, self, varargin{:});
     end
     function varargout = setNrOfContactsForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1521, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1595, self, varargin{:});
     end
     function varargout = addNewContactForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1522, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1596, self, varargin{:});
     end
     function varargout = addNewContactInFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1523, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1597, self, varargin{:});
     end
     function varargout = addNewUnknownFullWrenchInFrameOrigin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1524, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1598, self, varargin{:});
     end
     function varargout = contactWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1525, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1599, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1526, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1600, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1527, self);
+        iDynTreeMEX(1601, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m b/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m
index eed7cf6315c..2d2f107aa6d 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m
@@ -9,29 +9,29 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(892, varargin{:});
+        tmp = iDynTreeMEX(916, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(893, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(917, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(894, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(918, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(895, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(919, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(896, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(920, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(897, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(921, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(898, self);
+        iDynTreeMEX(922, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m b/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m
index afb4bf3734f..c3afdd03eb3 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m
@@ -9,32 +9,32 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(874, varargin{:});
+        tmp = iDynTreeMEX(898, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(875, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(899, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(876, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(900, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(877, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(901, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(878, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(902, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(879, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(903, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(880, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(904, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(881, self);
+        iDynTreeMEX(905, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix10x16.m b/bindings/matlab/autogenerated/+iDynTree/Matrix10x16.m
index 33342dd0a5a..252e0b7fe11 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Matrix10x16.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Matrix10x16.m
@@ -9,53 +9,53 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(266, varargin{:});
+        tmp = iDynTreeMEX(270, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(267, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(271, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(268, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(272, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(269, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(273, self, varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(270, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(274, self, varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(271, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(275, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(272, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(276, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(273, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(277, self, varargin{:});
     end
     function varargout = fillRowMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(274, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(278, self, varargin{:});
     end
     function varargout = fillColMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(275, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(279, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(276, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(280, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(277, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(281, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(278, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(282, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(279, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(283, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(280, self);
+        iDynTreeMEX(284, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix1x6.m b/bindings/matlab/autogenerated/+iDynTree/Matrix1x6.m
index 599c3b20e9f..337782d5159 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Matrix1x6.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Matrix1x6.m
@@ -9,53 +9,53 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(176, varargin{:});
+        tmp = iDynTreeMEX(180, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(177, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(181, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(178, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(182, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(179, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(183, self, varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(180, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(184, self, varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(181, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(185, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(182, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(186, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(183, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(187, self, varargin{:});
     end
     function varargout = fillRowMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(184, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(188, self, varargin{:});
     end
     function varargout = fillColMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(185, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(189, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(186, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(190, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(187, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(191, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(188, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(192, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(189, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(193, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(190, self);
+        iDynTreeMEX(194, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix2x3.m b/bindings/matlab/autogenerated/+iDynTree/Matrix2x3.m
index 15cf64d2368..3b39361d1e9 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Matrix2x3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Matrix2x3.m
@@ -9,53 +9,53 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(191, varargin{:});
+        tmp = iDynTreeMEX(195, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(192, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(196, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(193, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(197, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(194, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(198, self, varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(195, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(199, self, varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(196, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(200, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(197, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(201, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(198, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(202, self, varargin{:});
     end
     function varargout = fillRowMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(199, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(203, self, varargin{:});
     end
     function varargout = fillColMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(200, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(204, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(201, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(205, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(202, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(206, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(203, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(207, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(204, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(208, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(205, self);
+        iDynTreeMEX(209, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix3x3.m b/bindings/matlab/autogenerated/+iDynTree/Matrix3x3.m
index acfefc669c8..e492d1d4d82 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Matrix3x3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Matrix3x3.m
@@ -9,53 +9,53 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(206, varargin{:});
+        tmp = iDynTreeMEX(210, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(207, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(211, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(208, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(212, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(209, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(213, self, varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(210, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(214, self, varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(211, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(215, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(212, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(216, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(213, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(217, self, varargin{:});
     end
     function varargout = fillRowMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(214, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(218, self, varargin{:});
     end
     function varargout = fillColMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(215, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(219, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(216, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(220, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(217, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(221, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(218, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(222, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(219, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(223, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(220, self);
+        iDynTreeMEX(224, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix4x4.m b/bindings/matlab/autogenerated/+iDynTree/Matrix4x4.m
index 867ab8a0fcc..d2012c9cca2 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Matrix4x4.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Matrix4x4.m
@@ -9,53 +9,53 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(221, varargin{:});
+        tmp = iDynTreeMEX(225, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(222, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(226, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(223, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(227, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(224, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(228, self, varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(225, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(229, self, varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(226, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(230, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(227, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(231, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(228, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(232, self, varargin{:});
     end
     function varargout = fillRowMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(229, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(233, self, varargin{:});
     end
     function varargout = fillColMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(230, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(234, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(231, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(235, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(232, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(236, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(233, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(237, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(234, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(238, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(235, self);
+        iDynTreeMEX(239, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix6x10.m b/bindings/matlab/autogenerated/+iDynTree/Matrix6x10.m
index 5a19709de6f..02664e9a8c9 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Matrix6x10.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Matrix6x10.m
@@ -9,53 +9,53 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(251, varargin{:});
+        tmp = iDynTreeMEX(255, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(252, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(256, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(253, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(257, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(254, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(258, self, varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(255, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(259, self, varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(256, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(260, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(257, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(261, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(258, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(262, self, varargin{:});
     end
     function varargout = fillRowMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(259, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(263, self, varargin{:});
     end
     function varargout = fillColMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(260, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(264, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(261, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(265, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(262, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(266, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(263, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(267, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(264, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(268, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(265, self);
+        iDynTreeMEX(269, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix6x6.m b/bindings/matlab/autogenerated/+iDynTree/Matrix6x6.m
index f4ad08a331c..4e10d2f1651 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Matrix6x6.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Matrix6x6.m
@@ -9,53 +9,53 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(236, varargin{:});
+        tmp = iDynTreeMEX(240, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(237, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(241, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(238, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(242, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(239, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(243, self, varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(240, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(244, self, varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(241, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(245, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(242, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(246, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(243, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(247, self, varargin{:});
     end
     function varargout = fillRowMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(244, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(248, self, varargin{:});
     end
     function varargout = fillColMajorBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(245, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(249, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(246, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(250, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(247, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(251, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(248, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(252, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(249, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(253, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(250, self);
+        iDynTreeMEX(254, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Model.m b/bindings/matlab/autogenerated/+iDynTree/Model.m
index 04a62b153af..b1ff03c9655 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Model.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Model.m
@@ -9,133 +9,133 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1158, varargin{:});
+        tmp = iDynTreeMEX(1182, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = copy(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1159, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1183, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1160, self);
+        iDynTreeMEX(1184, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1161, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1185, self, varargin{:});
     end
     function varargout = getLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1162, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1186, self, varargin{:});
     end
     function varargout = getLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1163, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1187, self, varargin{:});
     end
     function varargout = isValidLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1164, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1188, self, varargin{:});
     end
     function varargout = getLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1165, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1189, self, varargin{:});
     end
     function varargout = addLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1166, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1190, self, varargin{:});
     end
     function varargout = getNrOfJoints(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1167, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1191, self, varargin{:});
     end
     function varargout = getJointName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1168, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1192, self, varargin{:});
     end
     function varargout = getTotalMass(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1169, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1193, self, varargin{:});
     end
     function varargout = getJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1170, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1194, self, varargin{:});
     end
     function varargout = getJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1171, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1195, self, varargin{:});
     end
     function varargout = isValidJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1172, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1196, self, varargin{:});
     end
     function varargout = isLinkNameUsed(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1173, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1197, self, varargin{:});
     end
     function varargout = isJointNameUsed(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1174, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1198, self, varargin{:});
     end
     function varargout = isFrameNameUsed(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1175, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1199, self, varargin{:});
     end
     function varargout = addJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1176, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1200, self, varargin{:});
     end
     function varargout = addJointAndLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1177, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1201, self, varargin{:});
     end
     function varargout = insertLinkToExistingJointAndAddJointForDisplacedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1178, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1202, self, varargin{:});
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1179, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1203, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1180, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1204, self, varargin{:});
     end
     function varargout = getNrOfFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1181, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1205, self, varargin{:});
     end
     function varargout = addAdditionalFrameToLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1182, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1206, self, varargin{:});
     end
     function varargout = getFrameName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1183, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1207, self, varargin{:});
     end
     function varargout = getFrameIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1184, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1208, self, varargin{:});
     end
     function varargout = isValidFrameIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1185, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1209, self, varargin{:});
     end
     function varargout = getFrameTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1186, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1210, self, varargin{:});
     end
     function varargout = getFrameLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1187, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1211, self, varargin{:});
     end
     function varargout = getLinkAdditionalFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1188, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1212, self, varargin{:});
     end
     function varargout = getNrOfNeighbors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1189, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1213, self, varargin{:});
     end
     function varargout = getNeighbor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1190, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1214, self, varargin{:});
     end
     function varargout = setDefaultBaseLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1191, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1215, self, varargin{:});
     end
     function varargout = getDefaultBaseLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1192, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1216, self, varargin{:});
     end
     function varargout = computeFullTreeTraversal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1193, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1217, self, varargin{:});
     end
     function varargout = getInertialParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1194, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1218, self, varargin{:});
     end
     function varargout = updateInertialParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1195, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1219, self, varargin{:});
     end
     function varargout = visualSolidShapes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1196, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1220, self, varargin{:});
     end
     function varargout = collisionSolidShapes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1197, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1221, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1198, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1222, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelCalibrationHelper.m b/bindings/matlab/autogenerated/+iDynTree/ModelCalibrationHelper.m
index 89b1f973716..9345931bde6 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelCalibrationHelper.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelCalibrationHelper.m
@@ -9,37 +9,37 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1496, varargin{:});
+        tmp = iDynTreeMEX(1570, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1497, self);
+        iDynTreeMEX(1571, self);
         self.SwigClear();
       end
     end
     function varargout = loadModelFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1498, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1572, self, varargin{:});
     end
     function varargout = loadModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1499, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1573, self, varargin{:});
     end
     function varargout = updateModelInertialParametersToString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1500, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1574, self, varargin{:});
     end
     function varargout = updateModelInertialParametersToFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1501, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1575, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1502, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1576, self, varargin{:});
     end
     function varargout = sensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1503, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1577, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1504, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1578, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelExporter.m b/bindings/matlab/autogenerated/+iDynTree/ModelExporter.m
index a0267226c69..fd96c465e15 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelExporter.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelExporter.m
@@ -9,40 +9,40 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1486, varargin{:});
+        tmp = iDynTreeMEX(1560, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1487, self);
+        iDynTreeMEX(1561, self);
         self.SwigClear();
       end
     end
     function varargout = exportingOptions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1488, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1562, self, varargin{:});
     end
     function varargout = setExportingOptions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1489, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1563, self, varargin{:});
     end
     function varargout = init(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1490, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1564, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1491, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1565, self, varargin{:});
     end
     function varargout = sensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1492, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1566, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1493, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1567, self, varargin{:});
     end
     function varargout = exportModelToString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1494, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1568, self, varargin{:});
     end
     function varargout = exportModelToFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1495, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1569, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelExporterOptions.m b/bindings/matlab/autogenerated/+iDynTree/ModelExporterOptions.m
index 1f96052a886..91c54fc6eba 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelExporterOptions.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelExporterOptions.m
@@ -7,20 +7,20 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1480, self);
+        varargout{1} = iDynTreeMEX(1554, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1481, self, varargin{1});
+        iDynTreeMEX(1555, self, varargin{1});
       end
     end
     function varargout = exportFirstBaseLinkAdditionalFrameAsFakeURDFBase(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1482, self);
+        varargout{1} = iDynTreeMEX(1556, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1483, self, varargin{1});
+        iDynTreeMEX(1557, self, varargin{1});
       end
     end
     function self = ModelExporterOptions(varargin)
@@ -29,14 +29,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1484, varargin{:});
+        tmp = iDynTreeMEX(1558, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1485, self);
+        iDynTreeMEX(1559, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelLoader.m b/bindings/matlab/autogenerated/+iDynTree/ModelLoader.m
index affc7ec2402..4fc841e6661 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelLoader.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelLoader.m
@@ -9,46 +9,46 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1468, varargin{:});
+        tmp = iDynTreeMEX(1542, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1469, self);
+        iDynTreeMEX(1543, self);
         self.SwigClear();
       end
     end
     function varargout = parsingOptions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1470, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1544, self, varargin{:});
     end
     function varargout = setParsingOptions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1471, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1545, self, varargin{:});
     end
     function varargout = loadModelFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1472, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1546, self, varargin{:});
     end
     function varargout = loadModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1473, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1547, self, varargin{:});
     end
     function varargout = loadReducedModelFromFullModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1474, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1548, self, varargin{:});
     end
     function varargout = loadReducedModelFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1475, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1549, self, varargin{:});
     end
     function varargout = loadReducedModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1476, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1550, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1477, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1551, self, varargin{:});
     end
     function varargout = sensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1478, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1552, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1479, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1553, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelParserOptions.m b/bindings/matlab/autogenerated/+iDynTree/ModelParserOptions.m
index 6ecabcdd168..590cb8b81c6 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelParserOptions.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelParserOptions.m
@@ -7,20 +7,20 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1462, self);
+        varargout{1} = iDynTreeMEX(1536, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1463, self, varargin{1});
+        iDynTreeMEX(1537, self, varargin{1});
       end
     end
     function varargout = originalFilename(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1464, self);
+        varargout{1} = iDynTreeMEX(1538, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1465, self, varargin{1});
+        iDynTreeMEX(1539, self, varargin{1});
       end
     end
     function self = ModelParserOptions(varargin)
@@ -29,14 +29,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1466, varargin{:});
+        tmp = iDynTreeMEX(1540, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1467, self);
+        iDynTreeMEX(1541, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m b/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m
index f0a4d847a24..9e2ef467b14 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m
@@ -9,34 +9,34 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1145, varargin{:});
+        tmp = iDynTreeMEX(1169, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = clear(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1146, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1170, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1147, self);
+        iDynTreeMEX(1171, self);
         self.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1148, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1172, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1149, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1173, self, varargin{:});
     end
     function varargout = linkSolidShapes(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1150, self);
+        varargout{1} = iDynTreeMEX(1174, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1151, self, varargin{1});
+        iDynTreeMEX(1175, self, varargin{1});
       end
     end
   end
diff --git a/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m b/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m
index ce3ec5f9e58..e985ade0335 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m
@@ -7,20 +7,20 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1221, varargin{:});
+        tmp = iDynTreeMEX(1245, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1222, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1246, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1223, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1247, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1224, self);
+        iDynTreeMEX(1248, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m
index d931da95757..1bcef6b9fef 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m
@@ -7,17 +7,17 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(498, varargin{:});
+        tmp = iDynTreeMEX(522, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = cross(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(499, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(523, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(500, self);
+        iDynTreeMEX(524, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m
index 75f2cdcc0c4..9c401e92b16 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m
@@ -7,17 +7,17 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(495, varargin{:});
+        tmp = iDynTreeMEX(519, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = cross(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(496, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(520, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(497, self);
+        iDynTreeMEX(521, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m
index 6f5c429ef93..8d0f8ed6225 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m
@@ -2,33 +2,33 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(978, self);
+        iDynTreeMEX(1002, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(979, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1003, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(980, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1004, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(981, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1005, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(982, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1006, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(983, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1007, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(984, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1008, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(985, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1009, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(986, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1010, self, varargin{:});
     end
     function self = MovableJointImpl1(varargin)
       self@iDynTree.IJoint(SwigRef.Null);
diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl2.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl2.m
index 124af84b640..8225902fa7e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl2.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl2.m
@@ -2,33 +2,33 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(987, self);
+        iDynTreeMEX(1011, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(988, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1012, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(989, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1013, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(990, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1014, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(991, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1015, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(992, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1016, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(993, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1017, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(994, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1018, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(995, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1019, self, varargin{:});
     end
     function self = MovableJointImpl2(varargin)
       self@iDynTree.IJoint(SwigRef.Null);
diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl3.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl3.m
index bb3c9687eda..b959a6a30d3 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl3.m
@@ -2,33 +2,33 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(996, self);
+        iDynTreeMEX(1020, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(997, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1021, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(998, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1022, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(999, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1023, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1000, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1024, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1001, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1025, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1002, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1026, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1003, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1027, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1004, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1028, self, varargin{:});
     end
     function self = MovableJointImpl3(varargin)
       self@iDynTree.IJoint(SwigRef.Null);
diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl4.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl4.m
index 30c582aa2be..84cd22f1ca0 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl4.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl4.m
@@ -2,33 +2,33 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1005, self);
+        iDynTreeMEX(1029, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1006, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1030, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1007, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1031, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1008, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1032, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1009, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1033, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1010, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1034, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1011, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1035, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1012, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1036, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1013, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1037, self, varargin{:});
     end
     function self = MovableJointImpl4(varargin)
       self@iDynTree.IJoint(SwigRef.Null);
diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl5.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl5.m
index 07b84aa902f..f15e660c681 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl5.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl5.m
@@ -2,33 +2,33 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1014, self);
+        iDynTreeMEX(1038, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1015, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1039, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1016, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1040, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1017, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1041, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1018, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1042, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1019, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1043, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1020, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1044, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1021, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1045, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1022, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1046, self, varargin{:});
     end
     function self = MovableJointImpl5(varargin)
       self@iDynTree.IJoint(SwigRef.Null);
diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl6.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl6.m
index bde7335a60e..eb9d2f3cfce 100644
--- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl6.m
+++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl6.m
@@ -2,33 +2,33 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1023, self);
+        iDynTreeMEX(1047, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1024, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1048, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1025, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1049, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1026, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1050, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1027, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1051, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1028, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1052, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1029, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1053, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1030, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1054, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1031, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1055, self, varargin{:});
     end
     function self = MovableJointImpl6(varargin)
       self@iDynTree.IJoint(SwigRef.Null);
diff --git a/bindings/matlab/autogenerated/+iDynTree/NR_OF_SENSOR_TYPES.m b/bindings/matlab/autogenerated/+iDynTree/NR_OF_SENSOR_TYPES.m
index 00694339708..51b58c71558 100644
--- a/bindings/matlab/autogenerated/+iDynTree/NR_OF_SENSOR_TYPES.m
+++ b/bindings/matlab/autogenerated/+iDynTree/NR_OF_SENSOR_TYPES.m
@@ -1,3 +1,3 @@
 function v = NR_OF_SENSOR_TYPES()
-  v = iDynTreeMEX(1300);
+  v = iDynTreeMEX(1374);
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Neighbor.m b/bindings/matlab/autogenerated/+iDynTree/Neighbor.m
index 24b488df720..412499dc694 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Neighbor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Neighbor.m
@@ -7,20 +7,20 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1152, self);
+        varargout{1} = iDynTreeMEX(1176, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1153, self, varargin{1});
+        iDynTreeMEX(1177, self, varargin{1});
       end
     end
     function varargout = neighborJoint(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1154, self);
+        varargout{1} = iDynTreeMEX(1178, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1155, self, varargin{1});
+        iDynTreeMEX(1179, self, varargin{1});
       end
     end
     function self = Neighbor(varargin)
@@ -29,14 +29,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1156, varargin{:});
+        tmp = iDynTreeMEX(1180, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1157, self);
+        iDynTreeMEX(1181, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Polygon.m b/bindings/matlab/autogenerated/+iDynTree/Polygon.m
index 80fe5896d62..551f61fe066 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Polygon.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Polygon.m
@@ -7,10 +7,10 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1986, self);
+        varargout{1} = iDynTreeMEX(2060, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1987, self, varargin{1});
+        iDynTreeMEX(2061, self, varargin{1});
       end
     end
     function self = Polygon(varargin)
@@ -19,36 +19,36 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1988, varargin{:});
+        tmp = iDynTreeMEX(2062, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setNrOfVertices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1989, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2063, self, varargin{:});
     end
     function varargout = getNrOfVertices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1990, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2064, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1991, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2065, self, varargin{:});
     end
     function varargout = applyTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1992, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2066, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1993, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2067, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1995, self);
+        iDynTreeMEX(2069, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = XYRectangleFromOffsets(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(1994, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(2068, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Polygon2D.m b/bindings/matlab/autogenerated/+iDynTree/Polygon2D.m
index 3f6f25bd87f..06ec817fae0 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Polygon2D.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Polygon2D.m
@@ -7,10 +7,10 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1996, self);
+        varargout{1} = iDynTreeMEX(2070, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1997, self, varargin{1});
+        iDynTreeMEX(2071, self, varargin{1});
       end
     end
     function self = Polygon2D(varargin)
@@ -19,26 +19,26 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1998, varargin{:});
+        tmp = iDynTreeMEX(2072, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setNrOfVertices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1999, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2073, self, varargin{:});
     end
     function varargout = getNrOfVertices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2000, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2074, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2001, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2075, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2002, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2076, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(2003, self);
+        iDynTreeMEX(2077, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Position.m b/bindings/matlab/autogenerated/+iDynTree/Position.m
index f8efe004c9f..3000f5c6c90 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Position.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Position.m
@@ -7,60 +7,60 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(379, varargin{:});
+        tmp = iDynTreeMEX(403, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(380, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(404, self, varargin{:});
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(381, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(405, self, varargin{:});
     end
     function varargout = changeRefPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(382, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(406, self, varargin{:});
     end
     function varargout = changeCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(383, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(407, self, varargin{:});
     end
     function varargout = changePointOf(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(386, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(410, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(387, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(411, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(388, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(412, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(389, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(413, self, varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(390, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(414, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(391, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(415, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(392, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(416, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(394, self);
+        iDynTreeMEX(418, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(384, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(408, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(385, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(409, varargin{:});
     end
     function varargout = Zero(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(393, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(417, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/PositionRaw.m b/bindings/matlab/autogenerated/+iDynTree/PositionRaw.m
index 9d831f05966..a82f40c1b4f 100644
--- a/bindings/matlab/autogenerated/+iDynTree/PositionRaw.m
+++ b/bindings/matlab/autogenerated/+iDynTree/PositionRaw.m
@@ -7,39 +7,39 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(351, varargin{:});
+        tmp = iDynTreeMEX(375, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(352, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(376, self, varargin{:});
     end
     function varargout = changeRefPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(353, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(377, self, varargin{:});
     end
     function varargout = changePointOf(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(356, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(380, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(357, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(381, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(358, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(382, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(359, self);
+        iDynTreeMEX(383, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(354, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(378, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(355, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(379, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m b/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m
index c71ac8ac45f..d0cb1d4a797 100644
--- a/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m
@@ -9,69 +9,69 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(360, varargin{:});
+        tmp = iDynTreeMEX(384, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(361, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(385, self, varargin{:});
     end
     function varargout = getPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(362, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(386, self, varargin{:});
     end
     function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(363, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(387, self, varargin{:});
     end
     function varargout = getReferencePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(364, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(388, self, varargin{:});
     end
     function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(365, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(389, self, varargin{:});
     end
     function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(366, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(390, self, varargin{:});
     end
     function varargout = setPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(367, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(391, self, varargin{:});
     end
     function varargout = setBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(368, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(392, self, varargin{:});
     end
     function varargout = setReferencePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(369, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(393, self, varargin{:});
     end
     function varargout = setRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(370, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(394, self, varargin{:});
     end
     function varargout = setCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(371, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(395, self, varargin{:});
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(372, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(396, self, varargin{:});
     end
     function varargout = changeRefPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(373, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(397, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(376, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(400, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(377, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(401, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(378, self);
+        iDynTreeMEX(402, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(374, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(398, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(375, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(399, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m b/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m
index b77d262a394..a755e66d6bb 100644
--- a/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m
+++ b/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m
@@ -7,85 +7,85 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1057, varargin{:});
+        tmp = iDynTreeMEX(1081, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1058, self);
+        iDynTreeMEX(1082, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1059, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1083, self, varargin{:});
     end
     function varargout = setAttachedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1060, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1084, self, varargin{:});
     end
     function varargout = setRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1061, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1085, self, varargin{:});
     end
     function varargout = setAxis(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1062, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1086, self, varargin{:});
     end
     function varargout = getFirstAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1063, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1087, self, varargin{:});
     end
     function varargout = getSecondAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1064, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1088, self, varargin{:});
     end
     function varargout = getAxis(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1065, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1089, self, varargin{:});
     end
     function varargout = getRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1066, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1090, self, varargin{:});
     end
     function varargout = getTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1067, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1091, self, varargin{:});
     end
     function varargout = getTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1068, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1092, self, varargin{:});
     end
     function varargout = getMotionSubspaceVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1069, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1093, self, varargin{:});
     end
     function varargout = computeChildPosVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1070, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1094, self, varargin{:});
     end
     function varargout = computeChildVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1071, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1095, self, varargin{:});
     end
     function varargout = computeChildVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1072, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1096, self, varargin{:});
     end
     function varargout = computeChildAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1073, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1097, self, varargin{:});
     end
     function varargout = computeChildBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1074, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1098, self, varargin{:});
     end
     function varargout = computeJointTorque(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1075, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1099, self, varargin{:});
     end
     function varargout = hasPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1076, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1100, self, varargin{:});
     end
     function varargout = enablePosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1077, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1101, self, varargin{:});
     end
     function varargout = getPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1078, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1102, self, varargin{:});
     end
     function varargout = getMinPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1079, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1103, self, varargin{:});
     end
     function varargout = getMaxPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1080, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1104, self, varargin{:});
     end
     function varargout = setPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1081, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1105, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m b/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m
index 2fd7c7dd20e..c850f535217 100644
--- a/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m
+++ b/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m
@@ -1,3 +1,3 @@
 function varargout = RNEADynamicPhase(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1274, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1348, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m b/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m
index 86c8d41714f..d200b4d291d 100644
--- a/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m
+++ b/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m
@@ -7,85 +7,85 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1032, varargin{:});
+        tmp = iDynTreeMEX(1056, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1033, self);
+        iDynTreeMEX(1057, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1034, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1058, self, varargin{:});
     end
     function varargout = setAttachedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1035, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1059, self, varargin{:});
     end
     function varargout = setRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1036, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1060, self, varargin{:});
     end
     function varargout = setAxis(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1037, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1061, self, varargin{:});
     end
     function varargout = getFirstAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1038, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1062, self, varargin{:});
     end
     function varargout = getSecondAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1039, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1063, self, varargin{:});
     end
     function varargout = getAxis(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1040, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1064, self, varargin{:});
     end
     function varargout = getRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1041, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1065, self, varargin{:});
     end
     function varargout = getTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1042, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1066, self, varargin{:});
     end
     function varargout = getTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1043, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1067, self, varargin{:});
     end
     function varargout = getMotionSubspaceVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1044, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1068, self, varargin{:});
     end
     function varargout = computeChildPosVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1045, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1069, self, varargin{:});
     end
     function varargout = computeChildVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1046, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1070, self, varargin{:});
     end
     function varargout = computeChildVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1047, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1071, self, varargin{:});
     end
     function varargout = computeChildAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1048, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1072, self, varargin{:});
     end
     function varargout = computeChildBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1049, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1073, self, varargin{:});
     end
     function varargout = computeJointTorque(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1050, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1074, self, varargin{:});
     end
     function varargout = hasPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1051, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1075, self, varargin{:});
     end
     function varargout = enablePosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1052, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1076, self, varargin{:});
     end
     function varargout = getPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1053, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1077, self, varargin{:});
     end
     function varargout = getMinPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1054, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1078, self, varargin{:});
     end
     function varargout = getMaxPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1055, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1079, self, varargin{:});
     end
     function varargout = setPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1056, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1080, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/RigidBodyInertiaNonLinearParametrization.m b/bindings/matlab/autogenerated/+iDynTree/RigidBodyInertiaNonLinearParametrization.m
index 9542fc98c90..0c96505ef53 100644
--- a/bindings/matlab/autogenerated/+iDynTree/RigidBodyInertiaNonLinearParametrization.m
+++ b/bindings/matlab/autogenerated/+iDynTree/RigidBodyInertiaNonLinearParametrization.m
@@ -7,65 +7,65 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(699, self);
+        varargout{1} = iDynTreeMEX(723, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(700, self, varargin{1});
+        iDynTreeMEX(724, self, varargin{1});
       end
     end
     function varargout = com(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(701, self);
+        varargout{1} = iDynTreeMEX(725, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(702, self, varargin{1});
+        iDynTreeMEX(726, self, varargin{1});
       end
     end
     function varargout = link_R_centroidal(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(703, self);
+        varargout{1} = iDynTreeMEX(727, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(704, self, varargin{1});
+        iDynTreeMEX(728, self, varargin{1});
       end
     end
     function varargout = centralSecondMomentOfMass(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(705, self);
+        varargout{1} = iDynTreeMEX(729, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(706, self, varargin{1});
+        iDynTreeMEX(730, self, varargin{1});
       end
     end
     function varargout = getLinkCentroidalTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(707, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(731, self, varargin{:});
     end
     function varargout = fromRigidBodyInertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(708, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(732, self, varargin{:});
     end
     function varargout = fromInertialParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(709, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(733, self, varargin{:});
     end
     function varargout = toRigidBodyInertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(710, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(734, self, varargin{:});
     end
     function varargout = isPhysicallyConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(711, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(735, self, varargin{:});
     end
     function varargout = asVectorWithRotationAsVec(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(712, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(736, self, varargin{:});
     end
     function varargout = fromVectorWithRotationAsVec(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(713, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(737, self, varargin{:});
     end
     function varargout = getGradientWithRotationAsVec(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(714, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(738, self, varargin{:});
     end
     function self = RigidBodyInertiaNonLinearParametrization(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -73,14 +73,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(715, varargin{:});
+        tmp = iDynTreeMEX(739, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(716, self);
+        iDynTreeMEX(740, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Rotation.m b/bindings/matlab/autogenerated/+iDynTree/Rotation.m
index 7c272a8a6b8..2dc479c0a58 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Rotation.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Rotation.m
@@ -7,117 +7,117 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(751, varargin{:});
+        tmp = iDynTreeMEX(775, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(752, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(776, self, varargin{:});
     end
     function varargout = changeOrientFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(753, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(777, self, varargin{:});
     end
     function varargout = changeRefOrientFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(754, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(778, self, varargin{:});
     end
     function varargout = changeCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(755, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(779, self, varargin{:});
     end
     function varargout = changeCoordFrameOf(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(758, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(782, self, varargin{:});
     end
     function varargout = inverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(759, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(783, self, varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(760, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(784, self, varargin{:});
     end
     function varargout = log(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(761, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(785, self, varargin{:});
     end
     function varargout = fromQuaternion(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(762, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(786, self, varargin{:});
     end
     function varargout = getRPY(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(763, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(787, self, varargin{:});
     end
     function varargout = asRPY(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(764, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(788, self, varargin{:});
     end
     function varargout = getQuaternion(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(765, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(789, self, varargin{:});
     end
     function varargout = asQuaternion(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(766, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(790, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(783, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(807, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(784, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(808, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(785, self);
+        iDynTreeMEX(809, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(756, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(780, varargin{:});
     end
     function varargout = inverse2(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(757, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(781, varargin{:});
     end
     function varargout = RotX(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(767, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(791, varargin{:});
     end
     function varargout = RotY(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(768, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(792, varargin{:});
     end
     function varargout = RotZ(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(769, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(793, varargin{:});
     end
     function varargout = RotAxis(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(770, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(794, varargin{:});
     end
     function varargout = RotAxisDerivative(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(771, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(795, varargin{:});
     end
     function varargout = RPY(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(772, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(796, varargin{:});
     end
     function varargout = RPYRightTrivializedDerivative(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(773, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(797, varargin{:});
     end
     function varargout = RPYRightTrivializedDerivativeRateOfChange(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(774, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(798, varargin{:});
     end
     function varargout = RPYRightTrivializedDerivativeInverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(775, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(799, varargin{:});
     end
     function varargout = RPYRightTrivializedDerivativeInverseRateOfChange(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(776, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(800, varargin{:});
     end
     function varargout = QuaternionRightTrivializedDerivative(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(777, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(801, varargin{:});
     end
     function varargout = QuaternionRightTrivializedDerivativeInverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(778, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(802, varargin{:});
     end
     function varargout = Identity(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(779, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(803, varargin{:});
     end
     function varargout = RotationFromQuaternion(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(780, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(804, varargin{:});
     end
     function varargout = leftJacobian(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(781, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(805, varargin{:});
     end
     function varargout = leftJacobianInverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(782, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(806, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/RotationRaw.m b/bindings/matlab/autogenerated/+iDynTree/RotationRaw.m
index af556c3bd88..d847e727b0b 100644
--- a/bindings/matlab/autogenerated/+iDynTree/RotationRaw.m
+++ b/bindings/matlab/autogenerated/+iDynTree/RotationRaw.m
@@ -7,54 +7,54 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(717, varargin{:});
+        tmp = iDynTreeMEX(741, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = changeOrientFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(718, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(742, self, varargin{:});
     end
     function varargout = changeRefOrientFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(719, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(743, self, varargin{:});
     end
     function varargout = changeCoordFrameOf(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(722, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(746, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(728, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(752, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(729, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(753, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(730, self);
+        iDynTreeMEX(754, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(720, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(744, varargin{:});
     end
     function varargout = inverse2(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(721, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(745, varargin{:});
     end
     function varargout = RotX(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(723, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(747, varargin{:});
     end
     function varargout = RotY(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(724, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(748, varargin{:});
     end
     function varargout = RotZ(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(725, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(749, varargin{:});
     end
     function varargout = RPY(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(726, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(750, varargin{:});
     end
     function varargout = Identity(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(727, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(751, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m b/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m
index d29355b3120..71bbb5b3680 100644
--- a/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m
@@ -9,72 +9,72 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(731, varargin{:});
+        tmp = iDynTreeMEX(755, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(732, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(756, self, varargin{:});
     end
     function varargout = getOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(733, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(757, self, varargin{:});
     end
     function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(734, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(758, self, varargin{:});
     end
     function varargout = getReferenceOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(735, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(759, self, varargin{:});
     end
     function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(736, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(760, self, varargin{:});
     end
     function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(737, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(761, self, varargin{:});
     end
     function varargout = setOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(738, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(762, self, varargin{:});
     end
     function varargout = setBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(739, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(763, self, varargin{:});
     end
     function varargout = setReferenceOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(740, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(764, self, varargin{:});
     end
     function varargout = setRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(741, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(765, self, varargin{:});
     end
     function varargout = setCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(742, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(766, self, varargin{:});
     end
     function varargout = changeOrientFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(743, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(767, self, varargin{:});
     end
     function varargout = changeRefOrientFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(744, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(768, self, varargin{:});
     end
     function varargout = changeCoordFrameOf(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(745, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(769, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(748, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(772, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(749, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(773, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(750, self);
+        iDynTreeMEX(774, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(746, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(770, varargin{:});
     end
     function varargout = inverse2(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(747, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(771, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/RotationalInertiaRaw.m b/bindings/matlab/autogenerated/+iDynTree/RotationalInertiaRaw.m
index 07b7b8648ed..f4c3e5bce71 100644
--- a/bindings/matlab/autogenerated/+iDynTree/RotationalInertiaRaw.m
+++ b/bindings/matlab/autogenerated/+iDynTree/RotationalInertiaRaw.m
@@ -7,21 +7,21 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(654, varargin{:});
+        tmp = iDynTreeMEX(678, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(656, self);
+        iDynTreeMEX(680, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = Zero(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(655, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(679, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Sensor.m b/bindings/matlab/autogenerated/+iDynTree/Sensor.m
index bdd3569923d..2327b08fd88 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Sensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Sensor.m
@@ -5,33 +5,33 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1304, self);
+        iDynTreeMEX(1378, self);
         self.SwigClear();
       end
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1305, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1379, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1306, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1380, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1307, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1381, self, varargin{:});
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1308, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1382, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1309, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1383, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1310, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1384, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1311, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1385, self, varargin{:});
     end
     function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1312, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1386, self, varargin{:});
     end
     function self = Sensor(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/SensorsList.m b/bindings/matlab/autogenerated/+iDynTree/SensorsList.m
index 63a673f2bee..c3df31a191e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SensorsList.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SensorsList.m
@@ -9,61 +9,61 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1327, varargin{:});
+        tmp = iDynTreeMEX(1401, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1328, self);
+        iDynTreeMEX(1402, self);
         self.SwigClear();
       end
     end
     function varargout = addSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1329, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1403, self, varargin{:});
     end
     function varargout = setSerialization(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1330, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1404, self, varargin{:});
     end
     function varargout = getSerialization(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1331, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1405, self, varargin{:});
     end
     function varargout = getNrOfSensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1332, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1406, self, varargin{:});
     end
     function varargout = getSensorIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1333, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1407, self, varargin{:});
     end
     function varargout = getSizeOfAllSensorsMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1334, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1408, self, varargin{:});
     end
     function varargout = getSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1335, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1409, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1336, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1410, self, varargin{:});
     end
     function varargout = removeSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1337, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1411, self, varargin{:});
     end
     function varargout = removeAllSensorsOfType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1338, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1412, self, varargin{:});
     end
     function varargout = getSixAxisForceTorqueSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1339, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1413, self, varargin{:});
     end
     function varargout = getAccelerometerSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1340, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1414, self, varargin{:});
     end
     function varargout = getGyroscopeSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1341, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1415, self, varargin{:});
     end
     function varargout = getThreeAxisAngularAccelerometerSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1342, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1416, self, varargin{:});
     end
     function varargout = getThreeAxisForceTorqueContactSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1343, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1417, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m b/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m
index 8336e65f955..d76b2a0bb13 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m
@@ -9,37 +9,37 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1344, varargin{:});
+        tmp = iDynTreeMEX(1418, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1345, self);
+        iDynTreeMEX(1419, self);
         self.SwigClear();
       end
     end
     function varargout = setNrOfSensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1346, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1420, self, varargin{:});
     end
     function varargout = getNrOfSensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1347, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1421, self, varargin{:});
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1348, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1422, self, varargin{:});
     end
     function varargout = toVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1349, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1423, self, varargin{:});
     end
     function varargout = setMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1350, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1424, self, varargin{:});
     end
     function varargout = getMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1351, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1425, self, varargin{:});
     end
     function varargout = getSizeOfAllSensorsMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1352, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1426, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m b/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m
index 47afd6eb8d9..8d27c92a768 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m
@@ -9,46 +9,46 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1566, varargin{:});
+        tmp = iDynTreeMEX(1640, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1567, self);
+        iDynTreeMEX(1641, self);
         self.SwigClear();
       end
     end
     function varargout = setModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1568, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1642, self, varargin{:});
     end
     function varargout = loadModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1569, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1643, self, varargin{:});
     end
     function varargout = loadModelFromFileWithSpecifiedDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1570, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1644, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1571, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1645, self, varargin{:});
     end
     function varargout = updateKinematics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1572, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1646, self, varargin{:});
     end
     function varargout = init(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1573, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1647, self, varargin{:});
     end
     function varargout = changeFixedFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1574, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1648, self, varargin{:});
     end
     function varargout = getCurrentFixedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1575, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1649, self, varargin{:});
     end
     function varargout = getWorldLinkTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1576, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1650, self, varargin{:});
     end
     function varargout = getWorldFrameTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1577, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1651, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m b/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m
index 5b80bfb9624..0005962996f 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m
@@ -7,100 +7,100 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1353, varargin{:});
+        tmp = iDynTreeMEX(1427, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1354, self);
+        iDynTreeMEX(1428, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1355, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1429, self, varargin{:});
     end
     function varargout = setFirstLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1356, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1430, self, varargin{:});
     end
     function varargout = setSecondLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1357, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1431, self, varargin{:});
     end
     function varargout = getFirstLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1358, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1432, self, varargin{:});
     end
     function varargout = getSecondLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1359, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1433, self, varargin{:});
     end
     function varargout = setFirstLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1360, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1434, self, varargin{:});
     end
     function varargout = setSecondLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1361, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1435, self, varargin{:});
     end
     function varargout = getFirstLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1362, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1436, self, varargin{:});
     end
     function varargout = getSecondLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1363, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1437, self, varargin{:});
     end
     function varargout = setParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1364, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1438, self, varargin{:});
     end
     function varargout = setParentJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1365, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1439, self, varargin{:});
     end
     function varargout = setAppliedWrenchLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1366, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1440, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1367, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1441, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1368, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1442, self, varargin{:});
     end
     function varargout = getParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1369, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1443, self, varargin{:});
     end
     function varargout = getParentJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1370, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1444, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1371, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1445, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1372, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1446, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1373, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1447, self, varargin{:});
     end
     function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1374, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1448, self, varargin{:});
     end
     function varargout = getAppliedWrenchLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1375, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1449, self, varargin{:});
     end
     function varargout = isLinkAttachedToSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1376, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1450, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1377, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1451, self, varargin{:});
     end
     function varargout = getWrenchAppliedOnLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1378, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1452, self, varargin{:});
     end
     function varargout = getWrenchAppliedOnLinkMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1379, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1453, self, varargin{:});
     end
     function varargout = getWrenchAppliedOnLinkInverseMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1380, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1454, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1381, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1455, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1382, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1456, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SolidShape.m b/bindings/matlab/autogenerated/+iDynTree/SolidShape.m
index 20190d1b468..b68da0345f6 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SolidShape.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SolidShape.m
@@ -5,76 +5,76 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1099, self);
+        iDynTreeMEX(1123, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1100, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1124, self, varargin{:});
     end
     function varargout = name(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1101, self);
+        varargout{1} = iDynTreeMEX(1125, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1102, self, varargin{1});
+        iDynTreeMEX(1126, self, varargin{1});
       end
     end
     function varargout = nameIsValid(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1103, self);
+        varargout{1} = iDynTreeMEX(1127, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1104, self, varargin{1});
+        iDynTreeMEX(1128, self, varargin{1});
       end
     end
     function varargout = link_H_geometry(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1105, self);
+        varargout{1} = iDynTreeMEX(1129, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1106, self, varargin{1});
+        iDynTreeMEX(1130, self, varargin{1});
       end
     end
     function varargout = material(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1107, self);
+        varargout{1} = iDynTreeMEX(1131, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1108, self, varargin{1});
+        iDynTreeMEX(1132, self, varargin{1});
       end
     end
     function varargout = isSphere(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1109, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1133, self, varargin{:});
     end
     function varargout = isBox(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1110, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1134, self, varargin{:});
     end
     function varargout = isCylinder(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1111, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1135, self, varargin{:});
     end
     function varargout = isExternalMesh(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1112, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1136, self, varargin{:});
     end
     function varargout = asSphere(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1113, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1137, self, varargin{:});
     end
     function varargout = asBox(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1114, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1138, self, varargin{:});
     end
     function varargout = asCylinder(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1115, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1139, self, varargin{:});
     end
     function varargout = asExternalMesh(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1116, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1140, self, varargin{:});
     end
     function self = SolidShape(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/SolidshapesVector.m b/bindings/matlab/autogenerated/+iDynTree/SolidshapesVector.m
new file mode 100644
index 00000000000..4e4a1c9427f
--- /dev/null
+++ b/bindings/matlab/autogenerated/+iDynTree/SolidshapesVector.m
@@ -0,0 +1,95 @@
+classdef SolidshapesVector < SwigRef
+  methods
+    function this = swig_this(self)
+      this = iDynTreeMEX(3, self);
+    end
+    function varargout = pop(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1290, self, varargin{:});
+    end
+    function varargout = brace(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1291, self, varargin{:});
+    end
+    function varargout = setbrace(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1292, self, varargin{:});
+    end
+    function varargout = append(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1293, self, varargin{:});
+    end
+    function varargout = empty(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1294, self, varargin{:});
+    end
+    function varargout = size(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1295, self, varargin{:});
+    end
+    function varargout = swap(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1296, self, varargin{:});
+    end
+    function varargout = begin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1297, self, varargin{:});
+    end
+    function varargout = end(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1298, self, varargin{:});
+    end
+    function varargout = rbegin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1299, self, varargin{:});
+    end
+    function varargout = rend(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1300, self, varargin{:});
+    end
+    function varargout = clear(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1301, self, varargin{:});
+    end
+    function varargout = get_allocator(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1302, self, varargin{:});
+    end
+    function varargout = pop_back(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1303, self, varargin{:});
+    end
+    function varargout = erase(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1304, self, varargin{:});
+    end
+    function self = SolidshapesVector(varargin)
+      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+        if ~isnull(varargin{1})
+          self.swigPtr = varargin{1}.swigPtr;
+        end
+      else
+        tmp = iDynTreeMEX(1305, varargin{:});
+        self.swigPtr = tmp.swigPtr;
+        tmp.SwigClear();
+      end
+    end
+    function varargout = push_back(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1306, self, varargin{:});
+    end
+    function varargout = front(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1307, self, varargin{:});
+    end
+    function varargout = back(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1308, self, varargin{:});
+    end
+    function varargout = assign(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1309, self, varargin{:});
+    end
+    function varargout = resize(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1310, self, varargin{:});
+    end
+    function varargout = insert(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1311, self, varargin{:});
+    end
+    function varargout = reserve(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1312, self, varargin{:});
+    end
+    function varargout = capacity(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1313, self, varargin{:});
+    end
+    function delete(self)
+      if self.swigPtr
+        iDynTreeMEX(1314, self);
+        self.SwigClear();
+      end
+    end
+  end
+  methods(Static)
+  end
+end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialAcc.m b/bindings/matlab/autogenerated/+iDynTree/SpatialAcc.m
index b7762489d52..7504e6b73f9 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialAcc.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialAcc.m
@@ -7,23 +7,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(616, varargin{:});
+        tmp = iDynTreeMEX(640, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(617, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(641, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(618, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(642, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(619, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(643, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(620, self);
+        iDynTreeMEX(644, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVector.m b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVector.m
index 2c79c5c0666..71aeabd3a63 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVector.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVector.m
@@ -7,19 +7,19 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(597, varargin{:});
+        tmp = iDynTreeMEX(621, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(598, self);
+        iDynTreeMEX(622, self);
         self.SwigClear();
       end
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(599, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(623, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorBase.m
index c868002b143..132a9ae04fe 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorBase.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorBase.m
@@ -9,87 +9,87 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(563, varargin{:});
+        tmp = iDynTreeMEX(587, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getLinearVec3(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(564, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(588, self, varargin{:});
     end
     function varargout = getAngularVec3(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(565, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(589, self, varargin{:});
     end
     function varargout = setLinearVec3(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(566, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(590, self, varargin{:});
     end
     function varargout = setAngularVec3(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(567, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(591, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(568, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(592, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(569, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(593, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(570, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(594, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(571, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(595, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(572, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(596, self, varargin{:});
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(573, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(597, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(574, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(598, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(577, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(601, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(578, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(602, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(579, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(603, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(580, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(604, self, varargin{:});
     end
     function varargout = asVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(582, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(606, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(583, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(607, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(584, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(608, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(585, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(609, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(586, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(610, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(587, self);
+        iDynTreeMEX(611, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(575, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(599, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(576, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(600, varargin{:});
     end
     function varargout = Zero(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(581, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(605, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m
index 04f8ef1214d..b1885d89283 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m
@@ -9,23 +9,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(533, varargin{:});
+        tmp = iDynTreeMEX(557, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = check_linear2angularConsistency(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(534, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(558, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(535, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(559, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(536, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(560, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(537, self);
+        iDynTreeMEX(561, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialInertia.m b/bindings/matlab/autogenerated/+iDynTree/SpatialInertia.m
index 9f2b3cda739..f8a8b90bdef 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialInertia.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialInertia.m
@@ -7,63 +7,63 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(667, varargin{:});
+        tmp = iDynTreeMEX(691, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = asMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(669, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(693, self, varargin{:});
     end
     function varargout = applyInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(670, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(694, self, varargin{:});
     end
     function varargout = getInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(671, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(695, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(672, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(696, self, varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(673, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(697, self, varargin{:});
     end
     function varargout = biasWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(674, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(698, self, varargin{:});
     end
     function varargout = biasWrenchDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(675, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(699, self, varargin{:});
     end
     function varargout = asVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(677, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(701, self, varargin{:});
     end
     function varargout = fromVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(678, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(702, self, varargin{:});
     end
     function varargout = isPhysicallyConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(679, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(703, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(683, self);
+        iDynTreeMEX(707, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = combine(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(668, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(692, varargin{:});
     end
     function varargout = Zero(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(676, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(700, varargin{:});
     end
     function varargout = momentumRegressor(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(680, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(704, varargin{:});
     end
     function varargout = momentumDerivativeRegressor(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(681, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(705, varargin{:});
     end
     function varargout = momentumDerivativeSlotineLiRegressor(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(682, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(706, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialInertiaRaw.m b/bindings/matlab/autogenerated/+iDynTree/SpatialInertiaRaw.m
index cf4eb4f78f8..7bd51747998 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialInertiaRaw.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialInertiaRaw.m
@@ -9,42 +9,42 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(657, varargin{:});
+        tmp = iDynTreeMEX(681, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = fromRotationalInertiaWrtCenterOfMass(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(658, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(682, self, varargin{:});
     end
     function varargout = getMass(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(659, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(683, self, varargin{:});
     end
     function varargout = getCenterOfMass(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(660, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(684, self, varargin{:});
     end
     function varargout = getRotationalInertiaWrtFrameOrigin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(661, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(685, self, varargin{:});
     end
     function varargout = getRotationalInertiaWrtCenterOfMass(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(662, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(686, self, varargin{:});
     end
     function varargout = multiply(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(664, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(688, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(665, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(689, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(666, self);
+        iDynTreeMEX(690, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = combine(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(663, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(687, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMomentum.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMomentum.m
index 17e72b40427..83b366a0171 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialMomentum.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialMomentum.m
@@ -7,23 +7,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(611, varargin{:});
+        tmp = iDynTreeMEX(635, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(612, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(636, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(613, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(637, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(614, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(638, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(615, self);
+        iDynTreeMEX(639, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVector.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVector.m
index e418312239c..8fd8bdb713a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVector.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVector.m
@@ -7,29 +7,29 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(590, varargin{:});
+        tmp = iDynTreeMEX(614, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(591, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(615, self, varargin{:});
     end
     function varargout = cross(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(592, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(616, self, varargin{:});
     end
     function varargout = asCrossProductMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(593, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(617, self, varargin{:});
     end
     function varargout = asCrossProductMatrixWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(594, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(618, self, varargin{:});
     end
     function varargout = exp(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(595, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(619, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(596, self);
+        iDynTreeMEX(620, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorBase.m
index 3bb041d6610..f16f6af44b2 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorBase.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorBase.m
@@ -9,87 +9,87 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(538, varargin{:});
+        tmp = iDynTreeMEX(562, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getLinearVec3(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(539, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(563, self, varargin{:});
     end
     function varargout = getAngularVec3(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(540, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(564, self, varargin{:});
     end
     function varargout = setLinearVec3(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(541, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(565, self, varargin{:});
     end
     function varargout = setAngularVec3(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(542, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(566, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(543, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(567, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(544, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(568, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(545, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(569, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(546, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(570, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(547, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(571, self, varargin{:});
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(548, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(572, self, varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(549, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(573, self, varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(552, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(576, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(553, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(577, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(554, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(578, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(555, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(579, self, varargin{:});
     end
     function varargout = asVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(557, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(581, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(558, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(582, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(559, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(583, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(560, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(584, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(561, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(585, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(562, self);
+        iDynTreeMEX(586, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(550, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(574, varargin{:});
     end
     function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(551, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(575, varargin{:});
     end
     function varargout = Zero(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(556, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(580, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m
index 7079addefbf..2d18dad3be9 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m
@@ -9,23 +9,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(528, varargin{:});
+        tmp = iDynTreeMEX(552, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = check_linear2angularConsistency(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(529, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(553, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(530, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(554, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(531, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(555, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(532, self);
+        iDynTreeMEX(556, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Sphere.m b/bindings/matlab/autogenerated/+iDynTree/Sphere.m
index 39ae7876a84..0393b0fdba1 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Sphere.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Sphere.m
@@ -2,21 +2,21 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1117, self);
+        iDynTreeMEX(1141, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1118, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1142, self, varargin{:});
     end
     function varargout = radius(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1119, self);
+        varargout{1} = iDynTreeMEX(1143, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1120, self, varargin{1});
+        iDynTreeMEX(1144, self, varargin{1});
       end
     end
     function self = Sphere(varargin)
@@ -26,7 +26,7 @@ function delete(self)
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1121, varargin{:});
+        tmp = iDynTreeMEX(1145, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
diff --git a/bindings/matlab/autogenerated/+iDynTree/TRAVERSAL_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/TRAVERSAL_INVALID_INDEX.m
index 819549e307f..bd6ef32a455 100644
--- a/bindings/matlab/autogenerated/+iDynTree/TRAVERSAL_INVALID_INDEX.m
+++ b/bindings/matlab/autogenerated/+iDynTree/TRAVERSAL_INVALID_INDEX.m
@@ -2,9 +2,9 @@
   narginchk(0,1)
   if nargin==0
     nargoutchk(0,1)
-    varargout{1} = iDynTreeMEX(865);
+    varargout{1} = iDynTreeMEX(889);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(866,varargin{1});
+    iDynTreeMEX(890,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m
index 4e6d682610f..f917efb9682 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m
@@ -7,55 +7,55 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1415, varargin{:});
+        tmp = iDynTreeMEX(1489, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1416, self);
+        iDynTreeMEX(1490, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1417, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1491, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1418, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1492, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1419, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1493, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1420, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1494, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1421, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1495, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1422, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1496, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1423, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1497, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1424, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1498, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1425, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1499, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1426, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1500, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1427, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1501, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1428, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1502, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1429, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1503, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m
index 1432f19227f..9cef8eb73ed 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m
@@ -7,64 +7,64 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1430, varargin{:});
+        tmp = iDynTreeMEX(1504, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1431, self);
+        iDynTreeMEX(1505, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1432, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1506, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1433, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1507, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1434, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1508, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1435, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1509, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1436, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1510, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1437, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1511, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1438, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1512, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1439, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1513, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1440, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1514, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1441, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1515, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1442, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1516, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1443, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1517, self, varargin{:});
     end
     function varargout = setLoadCellLocations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1444, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1518, self, varargin{:});
     end
     function varargout = getLoadCellLocations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1445, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1519, self, varargin{:});
     end
     function varargout = computeThreeAxisForceTorqueFromLoadCellMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1446, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1520, self, varargin{:});
     end
     function varargout = computeCenterOfPressureFromLoadCellMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1447, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1521, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/Transform.m b/bindings/matlab/autogenerated/+iDynTree/Transform.m
index a5f328a7f7f..30d970642e2 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Transform.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Transform.m
@@ -9,69 +9,69 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(794, varargin{:});
+        tmp = iDynTreeMEX(818, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = fromHomogeneousTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(795, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(819, self, varargin{:});
     end
     function varargout = getSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(796, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(820, self, varargin{:});
     end
     function varargout = getRotation(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(797, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(821, self, varargin{:});
     end
     function varargout = getPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(798, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(822, self, varargin{:});
     end
     function varargout = setRotation(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(799, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(823, self, varargin{:});
     end
     function varargout = setPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(800, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(824, self, varargin{:});
     end
     function varargout = inverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(803, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(827, self, varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(804, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(828, self, varargin{:});
     end
     function varargout = asHomogeneousTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(806, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(830, self, varargin{:});
     end
     function varargout = asAdjointTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(807, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(831, self, varargin{:});
     end
     function varargout = asAdjointTransformWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(808, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(832, self, varargin{:});
     end
     function varargout = log(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(809, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(833, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(810, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(834, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(811, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(835, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(812, self);
+        iDynTreeMEX(836, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(801, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(825, varargin{:});
     end
     function varargout = inverse2(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(802, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(826, varargin{:});
     end
     function varargout = Identity(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(805, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(829, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/TransformDerivative.m b/bindings/matlab/autogenerated/+iDynTree/TransformDerivative.m
index 9b4f2d8fc90..2162c0d363c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/TransformDerivative.m
+++ b/bindings/matlab/autogenerated/+iDynTree/TransformDerivative.m
@@ -9,51 +9,51 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(813, varargin{:});
+        tmp = iDynTreeMEX(837, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(814, self);
+        iDynTreeMEX(838, self);
         self.SwigClear();
       end
     end
     function varargout = getRotationDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(815, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(839, self, varargin{:});
     end
     function varargout = getPositionDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(816, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(840, self, varargin{:});
     end
     function varargout = setRotationDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(817, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(841, self, varargin{:});
     end
     function varargout = setPositionDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(818, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(842, self, varargin{:});
     end
     function varargout = asHomogeneousTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(820, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(844, self, varargin{:});
     end
     function varargout = asAdjointTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(821, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(845, self, varargin{:});
     end
     function varargout = asAdjointTransformWrenchDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(822, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(846, self, varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(823, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(847, self, varargin{:});
     end
     function varargout = derivativeOfInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(824, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(848, self, varargin{:});
     end
     function varargout = transform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(825, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(849, self, varargin{:});
     end
   end
   methods(Static)
     function varargout = Zero(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(819, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(843, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m b/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m
index 74009abe576..08f06530322 100644
--- a/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m
@@ -9,32 +9,32 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(786, varargin{:});
+        tmp = iDynTreeMEX(810, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getRotationSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(787, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(811, self, varargin{:});
     end
     function varargout = getPositionSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(788, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(812, self, varargin{:});
     end
     function varargout = setRotationSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(789, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(813, self, varargin{:});
     end
     function varargout = setPositionSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(790, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(814, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(791, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(815, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(792, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(816, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(793, self);
+        iDynTreeMEX(817, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Traversal.m b/bindings/matlab/autogenerated/+iDynTree/Traversal.m
index 185c0ffa7d1..87c172e8212 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Traversal.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Traversal.m
@@ -9,61 +9,61 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1082, varargin{:});
+        tmp = iDynTreeMEX(1106, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1083, self);
+        iDynTreeMEX(1107, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfVisitedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1084, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1108, self, varargin{:});
     end
     function varargout = getLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1085, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1109, self, varargin{:});
     end
     function varargout = getBaseLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1086, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1110, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1087, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1111, self, varargin{:});
     end
     function varargout = getParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1088, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1112, self, varargin{:});
     end
     function varargout = getParentLinkFromLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1089, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1113, self, varargin{:});
     end
     function varargout = getParentJointFromLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1090, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1114, self, varargin{:});
     end
     function varargout = getTraversalIndexFromLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1091, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1115, self, varargin{:});
     end
     function varargout = reset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1092, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1116, self, varargin{:});
     end
     function varargout = addTraversalBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1093, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1117, self, varargin{:});
     end
     function varargout = addTraversalElement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1094, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1118, self, varargin{:});
     end
     function varargout = isParentOf(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1095, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1119, self, varargin{:});
     end
     function varargout = getChildLinkIndexFromJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1096, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1120, self, varargin{:});
     end
     function varargout = getParentLinkIndexFromJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1097, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1121, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1098, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1122, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/Twist.m b/bindings/matlab/autogenerated/+iDynTree/Twist.m
index 236ba188bc8..6c57f1d5b92 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Twist.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Twist.m
@@ -7,26 +7,26 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(600, varargin{:});
+        tmp = iDynTreeMEX(624, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(601, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(625, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(602, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(626, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(603, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(627, self, varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(604, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(628, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(605, self);
+        iDynTreeMEX(629, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m b/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m
index f8eb7c80aa3..fe9dbd49ca0 100644
--- a/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m
+++ b/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m
@@ -7,20 +7,20 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1450, self);
+        varargout{1} = iDynTreeMEX(1524, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1451, self, varargin{1});
+        iDynTreeMEX(1525, self, varargin{1});
       end
     end
     function varargout = originalFilename(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1452, self);
+        varargout{1} = iDynTreeMEX(1526, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1453, self, varargin{1});
+        iDynTreeMEX(1527, self, varargin{1});
       end
     end
     function self = URDFParserOptions(varargin)
@@ -29,14 +29,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1454, varargin{:});
+        tmp = iDynTreeMEX(1528, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1455, self);
+        iDynTreeMEX(1529, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m b/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m
index 5981b38213c..f4ef38a2020 100644
--- a/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m
+++ b/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m
@@ -9,7 +9,7 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1505, varargin{:});
+        tmp = iDynTreeMEX(1579, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
@@ -18,55 +18,55 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1506, self);
+        varargout{1} = iDynTreeMEX(1580, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1507, self, varargin{1});
+        iDynTreeMEX(1581, self, varargin{1});
       end
     end
     function varargout = contactPoint(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1508, self);
+        varargout{1} = iDynTreeMEX(1582, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1509, self, varargin{1});
+        iDynTreeMEX(1583, self, varargin{1});
       end
     end
     function varargout = forceDirection(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1510, self);
+        varargout{1} = iDynTreeMEX(1584, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1511, self, varargin{1});
+        iDynTreeMEX(1585, self, varargin{1});
       end
     end
     function varargout = knownWrench(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1512, self);
+        varargout{1} = iDynTreeMEX(1586, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1513, self, varargin{1});
+        iDynTreeMEX(1587, self, varargin{1});
       end
     end
     function varargout = contactId(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1514, self);
+        varargout{1} = iDynTreeMEX(1588, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1515, self, varargin{1});
+        iDynTreeMEX(1589, self, varargin{1});
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1516, self);
+        iDynTreeMEX(1590, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector10.m b/bindings/matlab/autogenerated/+iDynTree/Vector10.m
index 9d9290881d5..ad3631b6a69 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Vector10.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Vector10.m
@@ -9,50 +9,62 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(323, varargin{:});
+        tmp = iDynTreeMEX(339, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(324, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(340, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(325, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(341, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(326, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(342, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(327, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(343, self, varargin{:});
+    end
+    function varargout = cbegin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(344, self, varargin{:});
+    end
+    function varargout = cend(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(345, self, varargin{:});
+    end
+    function varargout = begin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(346, self, varargin{:});
+    end
+    function varargout = end(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(347, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(328, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(348, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(329, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(349, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(330, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(350, self, varargin{:});
     end
     function varargout = fillBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(331, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(351, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(332, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(352, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(333, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(353, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(334, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(354, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(335, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(355, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(336, self);
+        iDynTreeMEX(356, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector16.m b/bindings/matlab/autogenerated/+iDynTree/Vector16.m
index 21a80490fa7..744589655a1 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Vector16.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Vector16.m
@@ -9,50 +9,62 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(337, varargin{:});
+        tmp = iDynTreeMEX(357, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(338, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(358, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(339, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(359, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(340, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(360, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(341, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(361, self, varargin{:});
+    end
+    function varargout = cbegin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(362, self, varargin{:});
+    end
+    function varargout = cend(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(363, self, varargin{:});
+    end
+    function varargout = begin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(364, self, varargin{:});
+    end
+    function varargout = end(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(365, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(342, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(366, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(343, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(367, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(344, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(368, self, varargin{:});
     end
     function varargout = fillBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(345, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(369, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(346, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(370, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(347, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(371, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(348, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(372, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(349, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(373, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(350, self);
+        iDynTreeMEX(374, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector3.m b/bindings/matlab/autogenerated/+iDynTree/Vector3.m
index 1c922483e9f..cbe6d9077ea 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Vector3.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Vector3.m
@@ -9,50 +9,62 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(281, varargin{:});
+        tmp = iDynTreeMEX(285, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(282, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(286, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(283, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(287, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(284, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(288, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(285, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(289, self, varargin{:});
+    end
+    function varargout = cbegin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(290, self, varargin{:});
+    end
+    function varargout = cend(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(291, self, varargin{:});
+    end
+    function varargout = begin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(292, self, varargin{:});
+    end
+    function varargout = end(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(293, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(286, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(294, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(287, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(295, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(288, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(296, self, varargin{:});
     end
     function varargout = fillBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(289, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(297, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(290, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(298, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(291, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(299, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(292, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(300, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(293, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(301, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(294, self);
+        iDynTreeMEX(302, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector4.m b/bindings/matlab/autogenerated/+iDynTree/Vector4.m
index 417aa763279..33bfa640ac8 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Vector4.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Vector4.m
@@ -9,50 +9,62 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(295, varargin{:});
+        tmp = iDynTreeMEX(303, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(296, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(304, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(297, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(305, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(298, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(306, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(299, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(307, self, varargin{:});
+    end
+    function varargout = cbegin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(308, self, varargin{:});
+    end
+    function varargout = cend(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(309, self, varargin{:});
+    end
+    function varargout = begin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(310, self, varargin{:});
+    end
+    function varargout = end(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(311, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(300, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(312, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(301, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(313, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(302, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(314, self, varargin{:});
     end
     function varargout = fillBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(303, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(315, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(304, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(316, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(305, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(317, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(306, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(318, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(307, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(319, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(308, self);
+        iDynTreeMEX(320, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector6.m b/bindings/matlab/autogenerated/+iDynTree/Vector6.m
index ddc2f686979..c2faa46612d 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Vector6.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Vector6.m
@@ -9,50 +9,62 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(309, varargin{:});
+        tmp = iDynTreeMEX(321, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(310, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(322, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(311, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(323, self, varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(312, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(324, self, varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(313, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(325, self, varargin{:});
+    end
+    function varargout = cbegin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(326, self, varargin{:});
+    end
+    function varargout = cend(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(327, self, varargin{:});
+    end
+    function varargout = begin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(328, self, varargin{:});
+    end
+    function varargout = end(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(329, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(314, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(330, self, varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(315, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(331, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(316, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(332, self, varargin{:});
     end
     function varargout = fillBuffer(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(317, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(333, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(318, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(334, self, varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(319, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(335, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(320, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(336, self, varargin{:});
     end
     function varargout = fromMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(321, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(337, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(322, self);
+        iDynTreeMEX(338, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/VectorDynSize.m b/bindings/matlab/autogenerated/+iDynTree/VectorDynSize.m
index 5d3bbb9962b..85b7068d5ec 100644
--- a/bindings/matlab/autogenerated/+iDynTree/VectorDynSize.m
+++ b/bindings/matlab/autogenerated/+iDynTree/VectorDynSize.m
@@ -32,42 +32,54 @@ function delete(self)
     function varargout = setVal(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(163, self, varargin{:});
     end
-    function varargout = size(self,varargin)
+    function varargout = cbegin(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(164, self, varargin{:});
     end
-    function varargout = data(self,varargin)
+    function varargout = cend(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(165, self, varargin{:});
     end
-    function varargout = zero(self,varargin)
+    function varargout = begin(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(166, self, varargin{:});
     end
-    function varargout = reserve(self,varargin)
+    function varargout = end(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(167, self, varargin{:});
     end
-    function varargout = resize(self,varargin)
+    function varargout = size(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(168, self, varargin{:});
     end
-    function varargout = shrink_to_fit(self,varargin)
+    function varargout = data(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(169, self, varargin{:});
     end
-    function varargout = capacity(self,varargin)
+    function varargout = zero(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(170, self, varargin{:});
     end
-    function varargout = fillBuffer(self,varargin)
+    function varargout = reserve(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(171, self, varargin{:});
     end
-    function varargout = toString(self,varargin)
+    function varargout = resize(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(172, self, varargin{:});
     end
-    function varargout = display(self,varargin)
+    function varargout = shrink_to_fit(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(173, self, varargin{:});
     end
-    function varargout = toMatlab(self,varargin)
+    function varargout = capacity(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(174, self, varargin{:});
     end
-    function varargout = fromMatlab(self,varargin)
+    function varargout = fillBuffer(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(175, self, varargin{:});
     end
+    function varargout = toString(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(176, self, varargin{:});
+    end
+    function varargout = display(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(177, self, varargin{:});
+    end
+    function varargout = toMatlab(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(178, self, varargin{:});
+    end
+    function varargout = fromMatlab(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(179, self, varargin{:});
+    end
   end
   methods(Static)
   end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Visualizer.m b/bindings/matlab/autogenerated/+iDynTree/Visualizer.m
index df68356464d..86035d93d3f 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Visualizer.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Visualizer.m
@@ -9,55 +9,55 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1971, varargin{:});
+        tmp = iDynTreeMEX(2045, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1972, self);
+        iDynTreeMEX(2046, self);
         self.SwigClear();
       end
     end
     function varargout = init(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1973, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2047, self, varargin{:});
     end
     function varargout = getNrOfVisualizedModels(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1974, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2048, self, varargin{:});
     end
     function varargout = getModelInstanceName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1975, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2049, self, varargin{:});
     end
     function varargout = getModelInstanceIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1976, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2050, self, varargin{:});
     end
     function varargout = addModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1977, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2051, self, varargin{:});
     end
     function varargout = modelViz(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1978, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2052, self, varargin{:});
     end
     function varargout = camera(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1979, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2053, self, varargin{:});
     end
     function varargout = enviroment(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1980, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2054, self, varargin{:});
     end
     function varargout = vectors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1981, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2055, self, varargin{:});
     end
     function varargout = run(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1982, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2056, self, varargin{:});
     end
     function varargout = draw(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1983, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2057, self, varargin{:});
     end
     function varargout = drawToFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1984, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2058, self, varargin{:});
     end
     function varargout = close(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1985, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2059, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m b/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m
index aa5526a8912..452819d9556 100644
--- a/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m
+++ b/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m
@@ -7,40 +7,40 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1961, self);
+        varargout{1} = iDynTreeMEX(2035, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1962, self, varargin{1});
+        iDynTreeMEX(2036, self, varargin{1});
       end
     end
     function varargout = winWidth(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1963, self);
+        varargout{1} = iDynTreeMEX(2037, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1964, self, varargin{1});
+        iDynTreeMEX(2038, self, varargin{1});
       end
     end
     function varargout = winHeight(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1965, self);
+        varargout{1} = iDynTreeMEX(2039, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1966, self, varargin{1});
+        iDynTreeMEX(2040, self, varargin{1});
       end
     end
     function varargout = rootFrameArrowsDimension(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1967, self);
+        varargout{1} = iDynTreeMEX(2041, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1968, self, varargin{1});
+        iDynTreeMEX(2042, self, varargin{1});
       end
     end
     function self = VisualizerOptions(varargin)
@@ -49,14 +49,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1969, varargin{:});
+        tmp = iDynTreeMEX(2043, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1970, self);
+        iDynTreeMEX(2044, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Wrench.m b/bindings/matlab/autogenerated/+iDynTree/Wrench.m
index 811535ddbcc..ef46aafa7f7 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Wrench.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Wrench.m
@@ -7,23 +7,23 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(606, varargin{:});
+        tmp = iDynTreeMEX(630, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(607, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(631, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(608, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(632, self, varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(609, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(633, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(610, self);
+        iDynTreeMEX(634, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m b/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m
index 097357bba57..045822671ba 100644
--- a/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m
+++ b/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m
@@ -1,3 +1,3 @@
 function varargout = computeLinkNetWrenchesWithoutGravity(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1550, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1624, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m
index 13ebe1e4cad..2b398a885b6 100644
--- a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m
+++ b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m
@@ -1,3 +1,3 @@
 function varargout = dofsListFromURDF(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1458, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1532, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m
index b74189ceb61..10ed62899ea 100644
--- a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m
+++ b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m
@@ -1,3 +1,3 @@
 function varargout = dofsListFromURDFString(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1459, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1533, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dynamic_extent.m b/bindings/matlab/autogenerated/+iDynTree/dynamic_extent.m
index 7fbb892d551..2cb53735d8c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/dynamic_extent.m
+++ b/bindings/matlab/autogenerated/+iDynTree/dynamic_extent.m
@@ -1,3 +1,3 @@
 function v = dynamic_extent()
-  v = iDynTreeMEX(826);
+  v = iDynTreeMEX(850);
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m
index 87cf49cc691..f44d472a08a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m
@@ -1,3 +1,3 @@
 function varargout = dynamicsEstimationForwardVelAccKinematics(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1548, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1622, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m
index acccb793226..883a146668b 100644
--- a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m
@@ -1,3 +1,3 @@
 function varargout = dynamicsEstimationForwardVelKinematics(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1549, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1623, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m
index 1dae375b12d..85e54d7ce15 100644
--- a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m
+++ b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m
@@ -1,3 +1,3 @@
 function varargout = estimateExternalWrenches(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1547, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1621, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m
index fd2e36fba3e..ba8024ce529 100644
--- a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m
+++ b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m
@@ -9,86 +9,86 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1528, varargin{:});
+        tmp = iDynTreeMEX(1602, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1529, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1603, self, varargin{:});
     end
     function varargout = getNrOfSubModels(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1530, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1604, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1531, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1605, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1532, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1606, self, varargin{:});
     end
     function varargout = A(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1533, self);
+        varargout{1} = iDynTreeMEX(1607, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1534, self, varargin{1});
+        iDynTreeMEX(1608, self, varargin{1});
       end
     end
     function varargout = x(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1535, self);
+        varargout{1} = iDynTreeMEX(1609, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1536, self, varargin{1});
+        iDynTreeMEX(1610, self, varargin{1});
       end
     end
     function varargout = b(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1537, self);
+        varargout{1} = iDynTreeMEX(1611, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1538, self, varargin{1});
+        iDynTreeMEX(1612, self, varargin{1});
       end
     end
     function varargout = pinvA(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1539, self);
+        varargout{1} = iDynTreeMEX(1613, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1540, self, varargin{1});
+        iDynTreeMEX(1614, self, varargin{1});
       end
     end
     function varargout = b_contacts_subtree(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1541, self);
+        varargout{1} = iDynTreeMEX(1615, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1542, self, varargin{1});
+        iDynTreeMEX(1616, self, varargin{1});
       end
     end
     function varargout = subModelBase_H_link(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1543, self);
+        varargout{1} = iDynTreeMEX(1617, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1544, self, varargin{1});
+        iDynTreeMEX(1618, self, varargin{1});
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1545, self);
+        iDynTreeMEX(1619, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m
index b26006a1181..b62c32972d5 100644
--- a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m
+++ b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m
@@ -1,3 +1,3 @@
 function varargout = estimateExternalWrenchesWithoutInternalFT(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1546, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1620, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateInertialParametersFromLinkBoundingBoxesAndTotalMass.m b/bindings/matlab/autogenerated/+iDynTree/estimateInertialParametersFromLinkBoundingBoxesAndTotalMass.m
index b746aefe4f8..2e3a06fa247 100644
--- a/bindings/matlab/autogenerated/+iDynTree/estimateInertialParametersFromLinkBoundingBoxesAndTotalMass.m
+++ b/bindings/matlab/autogenerated/+iDynTree/estimateInertialParametersFromLinkBoundingBoxesAndTotalMass.m
@@ -1,3 +1,3 @@
 function varargout = estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1786, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1860, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m b/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m
index be419c03823..a6c5f2ef4e1 100644
--- a/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m
+++ b/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m
@@ -1,3 +1,3 @@
 function varargout = estimateLinkContactWrenchesFromLinkNetExternalWrenches(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1551, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1625, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m b/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m
index f6e0af3e234..92fa2905abe 100644
--- a/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m
+++ b/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m
@@ -1,3 +1,3 @@
 function varargout = getSensorTypeSize(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1303, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1377, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/input_dimensions.m b/bindings/matlab/autogenerated/+iDynTree/input_dimensions.m
index 1ca280b2db6..267ff9c42a9 100644
--- a/bindings/matlab/autogenerated/+iDynTree/input_dimensions.m
+++ b/bindings/matlab/autogenerated/+iDynTree/input_dimensions.m
@@ -1,3 +1,3 @@
 function v = input_dimensions()
-  v = iDynTreeMEX(1741);
+  v = iDynTreeMEX(1815);
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/isDOFBerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/isDOFBerdyDynamicVariable.m
index 49e489da3b1..596756a82c8 100644
--- a/bindings/matlab/autogenerated/+iDynTree/isDOFBerdyDynamicVariable.m
+++ b/bindings/matlab/autogenerated/+iDynTree/isDOFBerdyDynamicVariable.m
@@ -1,3 +1,3 @@
 function varargout = isDOFBerdyDynamicVariable(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1580, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1654, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/isJointBerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/isJointBerdyDynamicVariable.m
index 894ecbf2211..3c14fb21c1f 100644
--- a/bindings/matlab/autogenerated/+iDynTree/isJointBerdyDynamicVariable.m
+++ b/bindings/matlab/autogenerated/+iDynTree/isJointBerdyDynamicVariable.m
@@ -1,3 +1,3 @@
 function varargout = isJointBerdyDynamicVariable(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1579, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1653, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m b/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m
index 3f3e593df57..49a0aceda7c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m
@@ -1,3 +1,3 @@
 function varargout = isJointSensor(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1302, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1376, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/isLinkBerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/isLinkBerdyDynamicVariable.m
index f333c73b956..7c76a6cb12f 100644
--- a/bindings/matlab/autogenerated/+iDynTree/isLinkBerdyDynamicVariable.m
+++ b/bindings/matlab/autogenerated/+iDynTree/isLinkBerdyDynamicVariable.m
@@ -1,3 +1,3 @@
 function varargout = isLinkBerdyDynamicVariable(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1578, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1652, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m b/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m
index 82846ce64f9..14dd6934979 100644
--- a/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m
@@ -1,3 +1,3 @@
 function varargout = isLinkSensor(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1301, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1375, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/linksSolidshapesVector.m b/bindings/matlab/autogenerated/+iDynTree/linksSolidshapesVector.m
new file mode 100644
index 00000000000..86fc8228c56
--- /dev/null
+++ b/bindings/matlab/autogenerated/+iDynTree/linksSolidshapesVector.m
@@ -0,0 +1,95 @@
+classdef linksSolidshapesVector < SwigRef
+  methods
+    function this = swig_this(self)
+      this = iDynTreeMEX(3, self);
+    end
+    function varargout = pop(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1315, self, varargin{:});
+    end
+    function varargout = brace(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1316, self, varargin{:});
+    end
+    function varargout = setbrace(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1317, self, varargin{:});
+    end
+    function varargout = append(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1318, self, varargin{:});
+    end
+    function varargout = empty(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1319, self, varargin{:});
+    end
+    function varargout = size(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1320, self, varargin{:});
+    end
+    function varargout = swap(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1321, self, varargin{:});
+    end
+    function varargout = begin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1322, self, varargin{:});
+    end
+    function varargout = end(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1323, self, varargin{:});
+    end
+    function varargout = rbegin(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1324, self, varargin{:});
+    end
+    function varargout = rend(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1325, self, varargin{:});
+    end
+    function varargout = clear(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1326, self, varargin{:});
+    end
+    function varargout = get_allocator(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1327, self, varargin{:});
+    end
+    function varargout = pop_back(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1328, self, varargin{:});
+    end
+    function varargout = erase(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1329, self, varargin{:});
+    end
+    function self = linksSolidshapesVector(varargin)
+      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+        if ~isnull(varargin{1})
+          self.swigPtr = varargin{1}.swigPtr;
+        end
+      else
+        tmp = iDynTreeMEX(1330, varargin{:});
+        self.swigPtr = tmp.swigPtr;
+        tmp.SwigClear();
+      end
+    end
+    function varargout = push_back(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1331, self, varargin{:});
+    end
+    function varargout = front(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1332, self, varargin{:});
+    end
+    function varargout = back(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1333, self, varargin{:});
+    end
+    function varargout = assign(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1334, self, varargin{:});
+    end
+    function varargout = resize(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1335, self, varargin{:});
+    end
+    function varargout = insert(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1336, self, varargin{:});
+    end
+    function varargout = reserve(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1337, self, varargin{:});
+    end
+    function varargout = capacity(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1338, self, varargin{:});
+    end
+    function delete(self)
+      if self.swigPtr
+        iDynTreeMEX(1339, self);
+        self.SwigClear();
+      end
+    end
+  end
+  methods(Static)
+  end
+end
diff --git a/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m
index 0a38dad786f..2fd35b835b2 100644
--- a/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m
+++ b/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m
@@ -1,3 +1,3 @@
 function varargout = modelFromURDF(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1456, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1530, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m
index a51bb345d33..b8afb094c47 100644
--- a/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m
+++ b/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m
@@ -1,3 +1,3 @@
 function varargout = modelFromURDFString(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1457, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1531, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/output_dimensions_with_magnetometer.m b/bindings/matlab/autogenerated/+iDynTree/output_dimensions_with_magnetometer.m
index fdfdfe0cfeb..e002a347041 100644
--- a/bindings/matlab/autogenerated/+iDynTree/output_dimensions_with_magnetometer.m
+++ b/bindings/matlab/autogenerated/+iDynTree/output_dimensions_with_magnetometer.m
@@ -1,3 +1,3 @@
 function v = output_dimensions_with_magnetometer()
-  v = iDynTreeMEX(1739);
+  v = iDynTreeMEX(1813);
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/output_dimensions_without_magnetometer.m b/bindings/matlab/autogenerated/+iDynTree/output_dimensions_without_magnetometer.m
index 2973e9dc101..74feac01052 100644
--- a/bindings/matlab/autogenerated/+iDynTree/output_dimensions_without_magnetometer.m
+++ b/bindings/matlab/autogenerated/+iDynTree/output_dimensions_without_magnetometer.m
@@ -1,3 +1,3 @@
 function v = output_dimensions_without_magnetometer()
-  v = iDynTreeMEX(1740);
+  v = iDynTreeMEX(1814);
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m
index cb6cbd7f517..4413214736c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m
+++ b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m
@@ -1,3 +1,3 @@
 function varargout = predictSensorsMeasurements(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1448, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1522, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m
index 67e3495e7fb..8f62574f1d2 100644
--- a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m
+++ b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m
@@ -1,3 +1,3 @@
 function varargout = predictSensorsMeasurementsFromRawBuffers(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1449, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1523, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m
index 36eb5695229..5c652e58497 100644
--- a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m
+++ b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m
@@ -1,3 +1,3 @@
 function varargout = sensorsFromURDF(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1460, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1534, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m
index 83c4f06fe7c..dd90ead22c7 100644
--- a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m
+++ b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m
@@ -1,3 +1,3 @@
 function varargout = sensorsFromURDFString(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1461, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1535, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/sizeOfRotationParametrization.m b/bindings/matlab/autogenerated/+iDynTree/sizeOfRotationParametrization.m
index a0a6c2817d5..5981705440c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/sizeOfRotationParametrization.m
+++ b/bindings/matlab/autogenerated/+iDynTree/sizeOfRotationParametrization.m
@@ -1,3 +1,3 @@
 function varargout = sizeOfRotationParametrization(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(2032, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(2106, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx b/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx
index 399c8655b89..cdb2949534e 100644
--- a/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx
+++ b/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx
@@ -1230,212 +1230,216 @@ namespace swig {
 #define SWIGTYPE_p_char swig_types[18]
 #define SWIGTYPE_p_const_iterator swig_types[19]
 #define SWIGTYPE_p_const_pointer swig_types[20]
-#define SWIGTYPE_p_const_reverse_iterator swig_types[21]
-#define SWIGTYPE_p_const_typed_iterator swig_types[22]
-#define SWIGTYPE_p_difference_type swig_types[23]
-#define SWIGTYPE_p_double swig_types[24]
-#define SWIGTYPE_p_element_type swig_types[25]
-#define SWIGTYPE_p_iDynTree__AccelerometerSensor swig_types[26]
-#define SWIGTYPE_p_iDynTree__AngularForceVector3 swig_types[27]
-#define SWIGTYPE_p_iDynTree__AngularForceVector3Semantics swig_types[28]
-#define SWIGTYPE_p_iDynTree__AngularMotionVector3 swig_types[29]
-#define SWIGTYPE_p_iDynTree__AngularMotionVector3Semantics swig_types[30]
-#define SWIGTYPE_p_iDynTree__ArticulatedBodyAlgorithmInternalBuffers swig_types[31]
-#define SWIGTYPE_p_iDynTree__ArticulatedBodyInertia swig_types[32]
-#define SWIGTYPE_p_iDynTree__AttitudeEstimatorState swig_types[33]
-#define SWIGTYPE_p_iDynTree__AttitudeMahonyFilter swig_types[34]
-#define SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters swig_types[35]
-#define SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF swig_types[36]
-#define SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters swig_types[37]
-#define SWIGTYPE_p_iDynTree__Axis swig_types[38]
-#define SWIGTYPE_p_iDynTree__BerdyDynamicVariable swig_types[39]
-#define SWIGTYPE_p_iDynTree__BerdyHelper swig_types[40]
-#define SWIGTYPE_p_iDynTree__BerdyOptions swig_types[41]
-#define SWIGTYPE_p_iDynTree__BerdySensor swig_types[42]
-#define SWIGTYPE_p_iDynTree__BerdySparseMAPSolver swig_types[43]
-#define SWIGTYPE_p_iDynTree__Box swig_types[44]
-#define SWIGTYPE_p_iDynTree__ClassicalAcc swig_types[45]
-#define SWIGTYPE_p_iDynTree__ColorViz swig_types[46]
-#define SWIGTYPE_p_iDynTree__ContactWrench swig_types[47]
-#define SWIGTYPE_p_iDynTree__ConvexHullProjectionConstraint swig_types[48]
-#define SWIGTYPE_p_iDynTree__Cylinder swig_types[49]
-#define SWIGTYPE_p_iDynTree__DOFSpatialForceArray swig_types[50]
-#define SWIGTYPE_p_iDynTree__DOFSpatialMotionArray swig_types[51]
-#define SWIGTYPE_p_iDynTree__Direction swig_types[52]
-#define SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper swig_types[53]
-#define SWIGTYPE_p_iDynTree__Dummy swig_types[54]
-#define SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator swig_types[55]
-#define SWIGTYPE_p_iDynTree__ExternalMesh swig_types[56]
-#define SWIGTYPE_p_iDynTree__FixedJoint swig_types[57]
-#define SWIGTYPE_p_iDynTree__ForceVector3SemanticsT_iDynTree__AngularForceVector3Semantics_t swig_types[58]
-#define SWIGTYPE_p_iDynTree__ForceVector3SemanticsT_iDynTree__LinearForceVector3Semantics_t swig_types[59]
-#define SWIGTYPE_p_iDynTree__ForceVector3T_iDynTree__AngularForceVector3_t swig_types[60]
-#define SWIGTYPE_p_iDynTree__ForceVector3T_iDynTree__LinearForceVector3_t swig_types[61]
-#define SWIGTYPE_p_iDynTree__FrameFreeFloatingJacobian swig_types[62]
-#define SWIGTYPE_p_iDynTree__FreeFloatingAcc swig_types[63]
-#define SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques swig_types[64]
-#define SWIGTYPE_p_iDynTree__FreeFloatingMassMatrix swig_types[65]
-#define SWIGTYPE_p_iDynTree__FreeFloatingPos swig_types[66]
-#define SWIGTYPE_p_iDynTree__FreeFloatingVel swig_types[67]
-#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__AngularForceVector3Semantics_t swig_types[68]
-#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__AngularMotionVector3Semantics_t swig_types[69]
-#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__LinearForceVector3Semantics_t swig_types[70]
-#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__LinearMotionVector3Semantics_t swig_types[71]
-#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__AngularForceVector3_t swig_types[72]
-#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__AngularMotionVector3_t swig_types[73]
-#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__LinearForceVector3_t swig_types[74]
-#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__LinearMotionVector3_t swig_types[75]
-#define SWIGTYPE_p_iDynTree__GyroscopeSensor swig_types[76]
-#define SWIGTYPE_p_iDynTree__HighLevel__DynamicsComputations swig_types[77]
-#define SWIGTYPE_p_iDynTree__IAttitudeEstimator swig_types[78]
-#define SWIGTYPE_p_iDynTree__ICamera swig_types[79]
-#define SWIGTYPE_p_iDynTree__IEnvironment swig_types[80]
-#define SWIGTYPE_p_iDynTree__IJetsVisualization swig_types[81]
-#define SWIGTYPE_p_iDynTree__IJoint swig_types[82]
-#define SWIGTYPE_p_iDynTree__ILight swig_types[83]
-#define SWIGTYPE_p_iDynTree__IModelVisualization swig_types[84]
-#define SWIGTYPE_p_iDynTree__IVectorsVisualization swig_types[85]
-#define SWIGTYPE_p_iDynTree__IndexRange swig_types[86]
-#define SWIGTYPE_p_iDynTree__InverseKinematics swig_types[87]
-#define SWIGTYPE_p_iDynTree__JointDOFsDoubleArray swig_types[88]
-#define SWIGTYPE_p_iDynTree__JointPosDoubleArray swig_types[89]
-#define SWIGTYPE_p_iDynTree__JointSensor swig_types[90]
-#define SWIGTYPE_p_iDynTree__KinDynComputations swig_types[91]
-#define SWIGTYPE_p_iDynTree__LinearForceVector3 swig_types[92]
-#define SWIGTYPE_p_iDynTree__LinearForceVector3Semantics swig_types[93]
-#define SWIGTYPE_p_iDynTree__LinearMotionVector3 swig_types[94]
-#define SWIGTYPE_p_iDynTree__LinearMotionVector3Semantics swig_types[95]
-#define SWIGTYPE_p_iDynTree__Link swig_types[96]
-#define SWIGTYPE_p_iDynTree__LinkAccArray swig_types[97]
-#define SWIGTYPE_p_iDynTree__LinkArticulatedBodyInertias swig_types[98]
-#define SWIGTYPE_p_iDynTree__LinkContactWrenches swig_types[99]
-#define SWIGTYPE_p_iDynTree__LinkInertias swig_types[100]
-#define SWIGTYPE_p_iDynTree__LinkPositions swig_types[101]
-#define SWIGTYPE_p_iDynTree__LinkSensor swig_types[102]
-#define SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts swig_types[103]
-#define SWIGTYPE_p_iDynTree__LinkVelArray swig_types[104]
-#define SWIGTYPE_p_iDynTree__LinkWrenches swig_types[105]
-#define SWIGTYPE_p_iDynTree__MatrixDynSize swig_types[106]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_10_16_t swig_types[107]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_1_6_t swig_types[108]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_2_3_t swig_types[109]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_3_t swig_types[110]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_4_t swig_types[111]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_3_t swig_types[112]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_4_t swig_types[113]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_10_t swig_types[114]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_1_t swig_types[115]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_6_t swig_types[116]
-#define SWIGTYPE_p_iDynTree__Model swig_types[117]
-#define SWIGTYPE_p_iDynTree__ModelCalibrationHelper swig_types[118]
-#define SWIGTYPE_p_iDynTree__ModelExporter swig_types[119]
-#define SWIGTYPE_p_iDynTree__ModelExporterOptions swig_types[120]
-#define SWIGTYPE_p_iDynTree__ModelLoader swig_types[121]
-#define SWIGTYPE_p_iDynTree__ModelParserOptions swig_types[122]
-#define SWIGTYPE_p_iDynTree__ModelSolidShapes swig_types[123]
-#define SWIGTYPE_p_iDynTree__MomentumFreeFloatingJacobian swig_types[124]
-#define SWIGTYPE_p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t swig_types[125]
-#define SWIGTYPE_p_iDynTree__MotionVector3T_iDynTree__LinearMotionVector3_t swig_types[126]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_1_1_t swig_types[127]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_2_2_t swig_types[128]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_3_3_t swig_types[129]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_4_4_t swig_types[130]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_5_5_t swig_types[131]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_6_6_t swig_types[132]
-#define SWIGTYPE_p_iDynTree__Neighbor swig_types[133]
-#define SWIGTYPE_p_iDynTree__Polygon swig_types[134]
-#define SWIGTYPE_p_iDynTree__Polygon2D swig_types[135]
-#define SWIGTYPE_p_iDynTree__Position swig_types[136]
-#define SWIGTYPE_p_iDynTree__PositionRaw swig_types[137]
-#define SWIGTYPE_p_iDynTree__PositionSemantics swig_types[138]
-#define SWIGTYPE_p_iDynTree__PrismaticJoint swig_types[139]
-#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorGenerator swig_types[140]
-#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorParameter swig_types[141]
-#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorParametersList swig_types[142]
-#define SWIGTYPE_p_iDynTree__RevoluteJoint swig_types[143]
-#define SWIGTYPE_p_iDynTree__RigidBodyInertiaNonLinearParametrization swig_types[144]
-#define SWIGTYPE_p_iDynTree__Rotation swig_types[145]
-#define SWIGTYPE_p_iDynTree__RotationRaw swig_types[146]
-#define SWIGTYPE_p_iDynTree__RotationSemantics swig_types[147]
-#define SWIGTYPE_p_iDynTree__RotationalInertiaRaw swig_types[148]
-#define SWIGTYPE_p_iDynTree__Sensor swig_types[149]
-#define SWIGTYPE_p_iDynTree__SensorsList swig_types[150]
-#define SWIGTYPE_p_iDynTree__SensorsMeasurements swig_types[151]
-#define SWIGTYPE_p_iDynTree__SimpleLeggedOdometry swig_types[152]
-#define SWIGTYPE_p_iDynTree__SixAxisForceTorqueSensor swig_types[153]
-#define SWIGTYPE_p_iDynTree__SolidShape swig_types[154]
-#define SWIGTYPE_p_iDynTree__SpanT_double__1_t swig_types[155]
-#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t swig_types[156]
-#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t swig_types[157]
-#define SWIGTYPE_p_iDynTree__SpatialAcc swig_types[158]
-#define SWIGTYPE_p_iDynTree__SpatialForceVector swig_types[159]
-#define SWIGTYPE_p_iDynTree__SpatialInertia swig_types[160]
-#define SWIGTYPE_p_iDynTree__SpatialInertiaRaw swig_types[161]
-#define SWIGTYPE_p_iDynTree__SpatialMomentum swig_types[162]
-#define SWIGTYPE_p_iDynTree__SpatialMotionVector swig_types[163]
-#define SWIGTYPE_p_iDynTree__SpatialVectorSemanticsT_iDynTree__LinearForceVector3Semantics_iDynTree__AngularForceVector3Semantics_t swig_types[164]
-#define SWIGTYPE_p_iDynTree__SpatialVectorSemanticsT_iDynTree__LinearMotionVector3Semantics_iDynTree__AngularMotionVector3Semantics_t swig_types[165]
-#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialForceVector_t swig_types[166]
-#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialMotionVector_t swig_types[167]
-#define SWIGTYPE_p_iDynTree__Sphere swig_types[168]
-#define SWIGTYPE_p_iDynTree__SubModelDecomposition swig_types[169]
-#define SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor swig_types[170]
-#define SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor swig_types[171]
-#define SWIGTYPE_p_iDynTree__Transform swig_types[172]
-#define SWIGTYPE_p_iDynTree__TransformDerivative swig_types[173]
-#define SWIGTYPE_p_iDynTree__TransformSemantics swig_types[174]
-#define SWIGTYPE_p_iDynTree__Traversal swig_types[175]
-#define SWIGTYPE_p_iDynTree__Triplets swig_types[176]
-#define SWIGTYPE_p_iDynTree__Twist swig_types[177]
-#define SWIGTYPE_p_iDynTree__URDFParserOptions swig_types[178]
-#define SWIGTYPE_p_iDynTree__UnknownWrenchContact swig_types[179]
-#define SWIGTYPE_p_iDynTree__VectorDynSize swig_types[180]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t swig_types[181]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t swig_types[182]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_2_t swig_types[183]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t swig_types[184]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t swig_types[185]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t swig_types[186]
-#define SWIGTYPE_p_iDynTree__Visualizer swig_types[187]
-#define SWIGTYPE_p_iDynTree__VisualizerOptions swig_types[188]
-#define SWIGTYPE_p_iDynTree__Wrench swig_types[189]
-#define SWIGTYPE_p_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t swig_types[190]
-#define SWIGTYPE_p_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t swig_types[191]
-#define SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers swig_types[192]
-#define SWIGTYPE_p_index_type swig_types[193]
-#define SWIGTYPE_p_int swig_types[194]
-#define SWIGTYPE_p_iterator swig_types[195]
-#define SWIGTYPE_p_pointer swig_types[196]
-#define SWIGTYPE_p_reference swig_types[197]
-#define SWIGTYPE_p_reverse_iterator swig_types[198]
-#define SWIGTYPE_p_size_type swig_types[199]
-#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdyDynamicVariable_t swig_types[200]
-#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdySensor_t swig_types[201]
-#define SWIGTYPE_p_std__allocatorT_std__string_t swig_types[202]
-#define SWIGTYPE_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t swig_types[203]
-#define SWIGTYPE_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t swig_types[204]
-#define SWIGTYPE_p_std__string swig_types[205]
-#define SWIGTYPE_p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t swig_types[206]
-#define SWIGTYPE_p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t swig_types[207]
-#define SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t swig_types[208]
-#define SWIGTYPE_p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t swig_types[209]
-#define SWIGTYPE_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t swig_types[210]
-#define SWIGTYPE_p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t swig_types[211]
-#define SWIGTYPE_p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t swig_types[212]
-#define SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t swig_types[213]
-#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t swig_types[214]
-#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t swig_types[215]
-#define SWIGTYPE_p_std__vectorT_int_std__allocatorT_int_t_t swig_types[216]
-#define SWIGTYPE_p_std__vectorT_std__pairT_double_double_t_std__allocatorT_std__pairT_double_double_t_t_t swig_types[217]
-#define SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t swig_types[218]
-#define SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t swig_types[219]
-#define SWIGTYPE_p_swig__MatlabSwigIterator swig_types[220]
-#define SWIGTYPE_p_typed_iterator swig_types[221]
-#define SWIGTYPE_p_unsigned_int swig_types[222]
-#define SWIGTYPE_p_unsigned_long swig_types[223]
-#define SWIGTYPE_p_value_type swig_types[224]
-static swig_type_info *swig_types[226];
-static swig_module_info swig_module = {swig_types, 225, 0, 0, 0, 0};
+#define SWIGTYPE_p_const_reference swig_types[21]
+#define SWIGTYPE_p_const_reverse_iterator swig_types[22]
+#define SWIGTYPE_p_const_typed_iterator swig_types[23]
+#define SWIGTYPE_p_difference_type swig_types[24]
+#define SWIGTYPE_p_double swig_types[25]
+#define SWIGTYPE_p_element_type swig_types[26]
+#define SWIGTYPE_p_iDynTree__AccelerometerSensor swig_types[27]
+#define SWIGTYPE_p_iDynTree__AngularForceVector3 swig_types[28]
+#define SWIGTYPE_p_iDynTree__AngularForceVector3Semantics swig_types[29]
+#define SWIGTYPE_p_iDynTree__AngularMotionVector3 swig_types[30]
+#define SWIGTYPE_p_iDynTree__AngularMotionVector3Semantics swig_types[31]
+#define SWIGTYPE_p_iDynTree__ArticulatedBodyAlgorithmInternalBuffers swig_types[32]
+#define SWIGTYPE_p_iDynTree__ArticulatedBodyInertia swig_types[33]
+#define SWIGTYPE_p_iDynTree__AttitudeEstimatorState swig_types[34]
+#define SWIGTYPE_p_iDynTree__AttitudeMahonyFilter swig_types[35]
+#define SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters swig_types[36]
+#define SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF swig_types[37]
+#define SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters swig_types[38]
+#define SWIGTYPE_p_iDynTree__Axis swig_types[39]
+#define SWIGTYPE_p_iDynTree__BerdyDynamicVariable swig_types[40]
+#define SWIGTYPE_p_iDynTree__BerdyHelper swig_types[41]
+#define SWIGTYPE_p_iDynTree__BerdyOptions swig_types[42]
+#define SWIGTYPE_p_iDynTree__BerdySensor swig_types[43]
+#define SWIGTYPE_p_iDynTree__BerdySparseMAPSolver swig_types[44]
+#define SWIGTYPE_p_iDynTree__Box swig_types[45]
+#define SWIGTYPE_p_iDynTree__ClassicalAcc swig_types[46]
+#define SWIGTYPE_p_iDynTree__ColorViz swig_types[47]
+#define SWIGTYPE_p_iDynTree__ContactWrench swig_types[48]
+#define SWIGTYPE_p_iDynTree__ConvexHullProjectionConstraint swig_types[49]
+#define SWIGTYPE_p_iDynTree__Cylinder swig_types[50]
+#define SWIGTYPE_p_iDynTree__DOFSpatialForceArray swig_types[51]
+#define SWIGTYPE_p_iDynTree__DOFSpatialMotionArray swig_types[52]
+#define SWIGTYPE_p_iDynTree__Direction swig_types[53]
+#define SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper swig_types[54]
+#define SWIGTYPE_p_iDynTree__Dummy swig_types[55]
+#define SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator swig_types[56]
+#define SWIGTYPE_p_iDynTree__ExternalMesh swig_types[57]
+#define SWIGTYPE_p_iDynTree__FixedJoint swig_types[58]
+#define SWIGTYPE_p_iDynTree__ForceVector3SemanticsT_iDynTree__AngularForceVector3Semantics_t swig_types[59]
+#define SWIGTYPE_p_iDynTree__ForceVector3SemanticsT_iDynTree__LinearForceVector3Semantics_t swig_types[60]
+#define SWIGTYPE_p_iDynTree__ForceVector3T_iDynTree__AngularForceVector3_t swig_types[61]
+#define SWIGTYPE_p_iDynTree__ForceVector3T_iDynTree__LinearForceVector3_t swig_types[62]
+#define SWIGTYPE_p_iDynTree__FrameFreeFloatingJacobian swig_types[63]
+#define SWIGTYPE_p_iDynTree__FreeFloatingAcc swig_types[64]
+#define SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques swig_types[65]
+#define SWIGTYPE_p_iDynTree__FreeFloatingMassMatrix swig_types[66]
+#define SWIGTYPE_p_iDynTree__FreeFloatingPos swig_types[67]
+#define SWIGTYPE_p_iDynTree__FreeFloatingVel swig_types[68]
+#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__AngularForceVector3Semantics_t swig_types[69]
+#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__AngularMotionVector3Semantics_t swig_types[70]
+#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__LinearForceVector3Semantics_t swig_types[71]
+#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__LinearMotionVector3Semantics_t swig_types[72]
+#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__AngularForceVector3_t swig_types[73]
+#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__AngularMotionVector3_t swig_types[74]
+#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__LinearForceVector3_t swig_types[75]
+#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__LinearMotionVector3_t swig_types[76]
+#define SWIGTYPE_p_iDynTree__GyroscopeSensor swig_types[77]
+#define SWIGTYPE_p_iDynTree__HighLevel__DynamicsComputations swig_types[78]
+#define SWIGTYPE_p_iDynTree__IAttitudeEstimator swig_types[79]
+#define SWIGTYPE_p_iDynTree__ICamera swig_types[80]
+#define SWIGTYPE_p_iDynTree__IEnvironment swig_types[81]
+#define SWIGTYPE_p_iDynTree__IJetsVisualization swig_types[82]
+#define SWIGTYPE_p_iDynTree__IJoint swig_types[83]
+#define SWIGTYPE_p_iDynTree__ILight swig_types[84]
+#define SWIGTYPE_p_iDynTree__IModelVisualization swig_types[85]
+#define SWIGTYPE_p_iDynTree__IVectorsVisualization swig_types[86]
+#define SWIGTYPE_p_iDynTree__IndexRange swig_types[87]
+#define SWIGTYPE_p_iDynTree__InverseKinematics swig_types[88]
+#define SWIGTYPE_p_iDynTree__JointDOFsDoubleArray swig_types[89]
+#define SWIGTYPE_p_iDynTree__JointPosDoubleArray swig_types[90]
+#define SWIGTYPE_p_iDynTree__JointSensor swig_types[91]
+#define SWIGTYPE_p_iDynTree__KinDynComputations swig_types[92]
+#define SWIGTYPE_p_iDynTree__LinearForceVector3 swig_types[93]
+#define SWIGTYPE_p_iDynTree__LinearForceVector3Semantics swig_types[94]
+#define SWIGTYPE_p_iDynTree__LinearMotionVector3 swig_types[95]
+#define SWIGTYPE_p_iDynTree__LinearMotionVector3Semantics swig_types[96]
+#define SWIGTYPE_p_iDynTree__Link swig_types[97]
+#define SWIGTYPE_p_iDynTree__LinkAccArray swig_types[98]
+#define SWIGTYPE_p_iDynTree__LinkArticulatedBodyInertias swig_types[99]
+#define SWIGTYPE_p_iDynTree__LinkContactWrenches swig_types[100]
+#define SWIGTYPE_p_iDynTree__LinkInertias swig_types[101]
+#define SWIGTYPE_p_iDynTree__LinkPositions swig_types[102]
+#define SWIGTYPE_p_iDynTree__LinkSensor swig_types[103]
+#define SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts swig_types[104]
+#define SWIGTYPE_p_iDynTree__LinkVelArray swig_types[105]
+#define SWIGTYPE_p_iDynTree__LinkWrenches swig_types[106]
+#define SWIGTYPE_p_iDynTree__MatrixDynSize swig_types[107]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_10_16_t swig_types[108]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_1_6_t swig_types[109]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_2_3_t swig_types[110]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_3_t swig_types[111]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_4_t swig_types[112]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_3_t swig_types[113]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_4_t swig_types[114]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_10_t swig_types[115]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_1_t swig_types[116]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_6_t swig_types[117]
+#define SWIGTYPE_p_iDynTree__Model swig_types[118]
+#define SWIGTYPE_p_iDynTree__ModelCalibrationHelper swig_types[119]
+#define SWIGTYPE_p_iDynTree__ModelExporter swig_types[120]
+#define SWIGTYPE_p_iDynTree__ModelExporterOptions swig_types[121]
+#define SWIGTYPE_p_iDynTree__ModelLoader swig_types[122]
+#define SWIGTYPE_p_iDynTree__ModelParserOptions swig_types[123]
+#define SWIGTYPE_p_iDynTree__ModelSolidShapes swig_types[124]
+#define SWIGTYPE_p_iDynTree__MomentumFreeFloatingJacobian swig_types[125]
+#define SWIGTYPE_p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t swig_types[126]
+#define SWIGTYPE_p_iDynTree__MotionVector3T_iDynTree__LinearMotionVector3_t swig_types[127]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_1_1_t swig_types[128]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_2_2_t swig_types[129]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_3_3_t swig_types[130]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_4_4_t swig_types[131]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_5_5_t swig_types[132]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_6_6_t swig_types[133]
+#define SWIGTYPE_p_iDynTree__Neighbor swig_types[134]
+#define SWIGTYPE_p_iDynTree__Polygon swig_types[135]
+#define SWIGTYPE_p_iDynTree__Polygon2D swig_types[136]
+#define SWIGTYPE_p_iDynTree__Position swig_types[137]
+#define SWIGTYPE_p_iDynTree__PositionRaw swig_types[138]
+#define SWIGTYPE_p_iDynTree__PositionSemantics swig_types[139]
+#define SWIGTYPE_p_iDynTree__PrismaticJoint swig_types[140]
+#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorGenerator swig_types[141]
+#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorParameter swig_types[142]
+#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorParametersList swig_types[143]
+#define SWIGTYPE_p_iDynTree__RevoluteJoint swig_types[144]
+#define SWIGTYPE_p_iDynTree__RigidBodyInertiaNonLinearParametrization swig_types[145]
+#define SWIGTYPE_p_iDynTree__Rotation swig_types[146]
+#define SWIGTYPE_p_iDynTree__RotationRaw swig_types[147]
+#define SWIGTYPE_p_iDynTree__RotationSemantics swig_types[148]
+#define SWIGTYPE_p_iDynTree__RotationalInertiaRaw swig_types[149]
+#define SWIGTYPE_p_iDynTree__Sensor swig_types[150]
+#define SWIGTYPE_p_iDynTree__SensorsList swig_types[151]
+#define SWIGTYPE_p_iDynTree__SensorsMeasurements swig_types[152]
+#define SWIGTYPE_p_iDynTree__SimpleLeggedOdometry swig_types[153]
+#define SWIGTYPE_p_iDynTree__SixAxisForceTorqueSensor swig_types[154]
+#define SWIGTYPE_p_iDynTree__SolidShape swig_types[155]
+#define SWIGTYPE_p_iDynTree__SpanT_double__1_t swig_types[156]
+#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t swig_types[157]
+#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t swig_types[158]
+#define SWIGTYPE_p_iDynTree__SpatialAcc swig_types[159]
+#define SWIGTYPE_p_iDynTree__SpatialForceVector swig_types[160]
+#define SWIGTYPE_p_iDynTree__SpatialInertia swig_types[161]
+#define SWIGTYPE_p_iDynTree__SpatialInertiaRaw swig_types[162]
+#define SWIGTYPE_p_iDynTree__SpatialMomentum swig_types[163]
+#define SWIGTYPE_p_iDynTree__SpatialMotionVector swig_types[164]
+#define SWIGTYPE_p_iDynTree__SpatialVectorSemanticsT_iDynTree__LinearForceVector3Semantics_iDynTree__AngularForceVector3Semantics_t swig_types[165]
+#define SWIGTYPE_p_iDynTree__SpatialVectorSemanticsT_iDynTree__LinearMotionVector3Semantics_iDynTree__AngularMotionVector3Semantics_t swig_types[166]
+#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialForceVector_t swig_types[167]
+#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialMotionVector_t swig_types[168]
+#define SWIGTYPE_p_iDynTree__Sphere swig_types[169]
+#define SWIGTYPE_p_iDynTree__SubModelDecomposition swig_types[170]
+#define SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor swig_types[171]
+#define SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor swig_types[172]
+#define SWIGTYPE_p_iDynTree__Transform swig_types[173]
+#define SWIGTYPE_p_iDynTree__TransformDerivative swig_types[174]
+#define SWIGTYPE_p_iDynTree__TransformSemantics swig_types[175]
+#define SWIGTYPE_p_iDynTree__Traversal swig_types[176]
+#define SWIGTYPE_p_iDynTree__Triplets swig_types[177]
+#define SWIGTYPE_p_iDynTree__Twist swig_types[178]
+#define SWIGTYPE_p_iDynTree__URDFParserOptions swig_types[179]
+#define SWIGTYPE_p_iDynTree__UnknownWrenchContact swig_types[180]
+#define SWIGTYPE_p_iDynTree__VectorDynSize swig_types[181]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t swig_types[182]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t swig_types[183]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_2_t swig_types[184]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t swig_types[185]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t swig_types[186]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t swig_types[187]
+#define SWIGTYPE_p_iDynTree__Visualizer swig_types[188]
+#define SWIGTYPE_p_iDynTree__VisualizerOptions swig_types[189]
+#define SWIGTYPE_p_iDynTree__Wrench swig_types[190]
+#define SWIGTYPE_p_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t swig_types[191]
+#define SWIGTYPE_p_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t swig_types[192]
+#define SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers swig_types[193]
+#define SWIGTYPE_p_index_type swig_types[194]
+#define SWIGTYPE_p_int swig_types[195]
+#define SWIGTYPE_p_iterator swig_types[196]
+#define SWIGTYPE_p_pointer swig_types[197]
+#define SWIGTYPE_p_reference swig_types[198]
+#define SWIGTYPE_p_reverse_iterator swig_types[199]
+#define SWIGTYPE_p_size_type swig_types[200]
+#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdyDynamicVariable_t swig_types[201]
+#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdySensor_t swig_types[202]
+#define SWIGTYPE_p_std__allocatorT_iDynTree__SolidShape_p_t swig_types[203]
+#define SWIGTYPE_p_std__allocatorT_std__string_t swig_types[204]
+#define SWIGTYPE_p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t swig_types[205]
+#define SWIGTYPE_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t swig_types[206]
+#define SWIGTYPE_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t swig_types[207]
+#define SWIGTYPE_p_std__string swig_types[208]
+#define SWIGTYPE_p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t swig_types[209]
+#define SWIGTYPE_p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t swig_types[210]
+#define SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t swig_types[211]
+#define SWIGTYPE_p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t swig_types[212]
+#define SWIGTYPE_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t swig_types[213]
+#define SWIGTYPE_p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t swig_types[214]
+#define SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t swig_types[215]
+#define SWIGTYPE_p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t swig_types[216]
+#define SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t swig_types[217]
+#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t swig_types[218]
+#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t swig_types[219]
+#define SWIGTYPE_p_std__vectorT_int_std__allocatorT_int_t_t swig_types[220]
+#define SWIGTYPE_p_std__vectorT_std__pairT_double_double_t_std__allocatorT_std__pairT_double_double_t_t_t swig_types[221]
+#define SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t swig_types[222]
+#define SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t swig_types[223]
+#define SWIGTYPE_p_swig__MatlabSwigIterator swig_types[224]
+#define SWIGTYPE_p_typed_iterator swig_types[225]
+#define SWIGTYPE_p_unsigned_int swig_types[226]
+#define SWIGTYPE_p_unsigned_long swig_types[227]
+#define SWIGTYPE_p_value_type swig_types[228]
+static swig_type_info *swig_types[230];
+static swig_module_info swig_module = {swig_types, 229, 0, 0, 0, 0};
 #define SWIG_TypeQuery(name) SWIG_TypeQueryModule(&swig_module, &swig_module, name)
 #define SWIG_MangledTypeQuery(name) SWIG_MangledTypeQueryModule(&swig_module, &swig_module, name)
 
@@ -3182,7 +3186,7 @@ SWIGINTERN void iDynTree_MatrixDynSize_fromMatlab(iDynTree::MatrixDynSize *self,
 
         if (mxIsSparse(in))
         {
-            /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+            /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3448,7 +3452,7 @@ SWIGINTERN void iDynTree_VectorDynSize_fromMatlab(iDynTree::VectorDynSize *self,
 
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3510,7 +3514,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_1_Sc_6_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3573,7 +3577,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_2_Sc_3_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3636,7 +3640,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_3_Sc_3_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3699,7 +3703,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_4_Sc_4_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3762,7 +3766,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_6_Sc_6_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3825,7 +3829,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_6_Sc_10_Sg__fromMatlab(iDynTree::Matri
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3888,7 +3892,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_10_Sc_16_Sg__fromMatlab(iDynTree::Matr
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3952,7 +3956,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_3_Sg__fromMatlab(iDynTree::VectorFixSi
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4018,7 +4022,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_4_Sg__fromMatlab(iDynTree::VectorFixSi
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4084,7 +4088,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_6_Sg__fromMatlab(iDynTree::VectorFixSi
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4150,7 +4154,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_10_Sg__fromMatlab(iDynTree::VectorFixS
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4216,7 +4220,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_16_Sg__fromMatlab(iDynTree::VectorFixS
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/Users/lorenzorapetti/Software/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4352,6 +4356,74 @@ SWIGINTERN iDynTree::FixedJoint *iDynTree_IJoint_asFixedJoint(iDynTree::IJoint *
             static_cast<iDynTree::FixedJoint*>(self);
         return p;
     }
+
+  namespace swig {
+    template <>  struct traits< iDynTree::SolidShape > {
+      typedef pointer_category category;
+      static const char* type_name() { return"iDynTree::SolidShape"; }
+    };
+  }
+
+
+      namespace swig {
+	template <>  struct traits<std::vector< iDynTree::SolidShape*, std::allocator< iDynTree::SolidShape * > > > {
+	  typedef value_category category;
+	  static const char* type_name() {
+	    return "std::vector<" "iDynTree::SolidShape" " *," "std::allocator< iDynTree::SolidShape * >" " >";
+	  }
+	};
+      }
+    
+SWIGINTERN std::vector< iDynTree::SolidShape * >::value_type std_vector_Sl_iDynTree_SolidShape_Sm__Sg__pop(std::vector< iDynTree::SolidShape * > *self){
+      if (self->size() == 0)
+	throw std::out_of_range("pop from empty container");
+      std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >::value_type x = self->back();
+      self->pop_back();
+      return x;
+    }
+SWIGINTERN std::vector< iDynTree::SolidShape * >::value_type std_vector_Sl_iDynTree_SolidShape_Sm__Sg__brace(std::vector< iDynTree::SolidShape * > *self,std::vector< iDynTree::SolidShape * >::difference_type i){
+      return *(swig::cgetpos(self, i));
+    }
+SWIGINTERN void std_vector_Sl_iDynTree_SolidShape_Sm__Sg__setbrace(std::vector< iDynTree::SolidShape * > *self,std::vector< iDynTree::SolidShape * >::value_type x,std::vector< iDynTree::SolidShape * >::difference_type i){
+      *(swig::getpos(self,i)) = x;
+    }
+SWIGINTERN void std_vector_Sl_iDynTree_SolidShape_Sm__Sg__append(std::vector< iDynTree::SolidShape * > *self,std::vector< iDynTree::SolidShape * >::value_type x){
+      self->push_back(x);
+    }
+SWIGINTERN std::vector< iDynTree::SolidShape * >::iterator std_vector_Sl_iDynTree_SolidShape_Sm__Sg__erase__SWIG_0(std::vector< iDynTree::SolidShape * > *self,std::vector< iDynTree::SolidShape * >::iterator pos){ return self->erase(pos); }
+SWIGINTERN std::vector< iDynTree::SolidShape * >::iterator std_vector_Sl_iDynTree_SolidShape_Sm__Sg__erase__SWIG_1(std::vector< iDynTree::SolidShape * > *self,std::vector< iDynTree::SolidShape * >::iterator first,std::vector< iDynTree::SolidShape * >::iterator last){ return self->erase(first, last); }
+SWIGINTERN std::vector< iDynTree::SolidShape * >::iterator std_vector_Sl_iDynTree_SolidShape_Sm__Sg__insert__SWIG_0(std::vector< iDynTree::SolidShape * > *self,std::vector< iDynTree::SolidShape * >::iterator pos,std::vector< iDynTree::SolidShape * >::value_type x){ return self->insert(pos, x); }
+SWIGINTERN void std_vector_Sl_iDynTree_SolidShape_Sm__Sg__insert__SWIG_1(std::vector< iDynTree::SolidShape * > *self,std::vector< iDynTree::SolidShape * >::iterator pos,std::vector< iDynTree::SolidShape * >::size_type n,std::vector< iDynTree::SolidShape * >::value_type x){ self->insert(pos, n, x); }
+
+      namespace swig {
+	template <>  struct traits<std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >, std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > > {
+	  typedef pointer_category category;
+	  static const char* type_name() {
+	    return "std::vector<" "std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >" "," "std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > >" " >";
+	  }
+	};
+      }
+    
+SWIGINTERN std::vector< std::vector< iDynTree::SolidShape * > >::value_type std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__pop(std::vector< std::vector< iDynTree::SolidShape * > > *self){
+      if (self->size() == 0)
+	throw std::out_of_range("pop from empty container");
+      std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > >::value_type x = self->back();
+      self->pop_back();
+      return x;
+    }
+SWIGINTERN std::vector< std::vector< iDynTree::SolidShape * > >::value_type std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__brace(std::vector< std::vector< iDynTree::SolidShape * > > *self,std::vector< std::vector< iDynTree::SolidShape * > >::difference_type i){
+      return *(swig::cgetpos(self, i));
+    }
+SWIGINTERN void std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__setbrace(std::vector< std::vector< iDynTree::SolidShape * > > *self,std::vector< std::vector< iDynTree::SolidShape * > >::value_type x,std::vector< std::vector< iDynTree::SolidShape * > >::difference_type i){
+      *(swig::getpos(self,i)) = x;
+    }
+SWIGINTERN void std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__append(std::vector< std::vector< iDynTree::SolidShape * > > *self,std::vector< std::vector< iDynTree::SolidShape * > >::value_type x){
+      self->push_back(x);
+    }
+SWIGINTERN std::vector< std::vector< iDynTree::SolidShape * > >::iterator std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__erase__SWIG_0(std::vector< std::vector< iDynTree::SolidShape * > > *self,std::vector< std::vector< iDynTree::SolidShape * > >::iterator pos){ return self->erase(pos); }
+SWIGINTERN std::vector< std::vector< iDynTree::SolidShape * > >::iterator std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__erase__SWIG_1(std::vector< std::vector< iDynTree::SolidShape * > > *self,std::vector< std::vector< iDynTree::SolidShape * > >::iterator first,std::vector< std::vector< iDynTree::SolidShape * > >::iterator last){ return self->erase(first, last); }
+SWIGINTERN std::vector< std::vector< iDynTree::SolidShape * > >::iterator std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__insert__SWIG_0(std::vector< std::vector< iDynTree::SolidShape * > > *self,std::vector< std::vector< iDynTree::SolidShape * > >::iterator pos,std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &x){ return self->insert(pos, x); }
+SWIGINTERN void std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__insert__SWIG_1(std::vector< std::vector< iDynTree::SolidShape * > > *self,std::vector< std::vector< iDynTree::SolidShape * > >::iterator pos,std::vector< std::vector< iDynTree::SolidShape * > >::size_type n,std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &x){ self->insert(pos, n, x); }
 SWIGINTERN iDynTree::SixAxisForceTorqueSensor *iDynTree_SensorsList_getSixAxisForceTorqueSensor(iDynTree::SensorsList const *self,int sensor_index){
         iDynTree::SixAxisForceTorqueSensor* p =
             static_cast<iDynTree::SixAxisForceTorqueSensor*>(self->getSensor(iDynTree::SIX_AXIS_FORCE_TORQUE,sensor_index));
@@ -11759,6 +11831,206 @@ int _wrap_VectorDynSize_setVal(int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
+int _wrap_VectorDynSize_begin__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorDynSize *arg1 = (iDynTree::VectorDynSize *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("VectorDynSize_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "VectorDynSize_begin" "', argument " "1"" of type '" "iDynTree::VectorDynSize const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorDynSize * >(argp1);
+  result = (double *)((iDynTree::VectorDynSize const *)arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_VectorDynSize_end__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorDynSize *arg1 = (iDynTree::VectorDynSize *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("VectorDynSize_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "VectorDynSize_end" "', argument " "1"" of type '" "iDynTree::VectorDynSize const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorDynSize * >(argp1);
+  result = (double *)((iDynTree::VectorDynSize const *)arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_VectorDynSize_cbegin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorDynSize *arg1 = (iDynTree::VectorDynSize *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("VectorDynSize_cbegin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "VectorDynSize_cbegin" "', argument " "1"" of type '" "iDynTree::VectorDynSize const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorDynSize * >(argp1);
+  result = (double *)((iDynTree::VectorDynSize const *)arg1)->cbegin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_VectorDynSize_cend(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorDynSize *arg1 = (iDynTree::VectorDynSize *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("VectorDynSize_cend",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "VectorDynSize_cend" "', argument " "1"" of type '" "iDynTree::VectorDynSize const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorDynSize * >(argp1);
+  result = (double *)((iDynTree::VectorDynSize const *)arg1)->cend();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_VectorDynSize_begin__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorDynSize *arg1 = (iDynTree::VectorDynSize *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("VectorDynSize_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "VectorDynSize_begin" "', argument " "1"" of type '" "iDynTree::VectorDynSize *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorDynSize * >(argp1);
+  result = (double *)(arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_VectorDynSize_begin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_VectorDynSize_begin__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_VectorDynSize_begin__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'VectorDynSize_begin'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorDynSize::begin() const\n"
+    "    iDynTree::VectorDynSize::begin()\n");
+  return 1;
+}
+
+
+int _wrap_VectorDynSize_end__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorDynSize *arg1 = (iDynTree::VectorDynSize *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("VectorDynSize_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "VectorDynSize_end" "', argument " "1"" of type '" "iDynTree::VectorDynSize *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorDynSize * >(argp1);
+  result = (double *)(arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_VectorDynSize_end(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_VectorDynSize_end__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_VectorDynSize_end__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'VectorDynSize_end'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorDynSize::end() const\n"
+    "    iDynTree::VectorDynSize::end()\n");
+  return 1;
+}
+
+
 int _wrap_VectorDynSize_size(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::VectorDynSize *arg1 = (iDynTree::VectorDynSize *) 0 ;
   void *argp1 = 0 ;
@@ -15852,6 +16124,206 @@ int _wrap_Vector3_setVal(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
+int _wrap_Vector3_begin__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 3 > *arg1 = (iDynTree::VectorFixSize< 3 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector3_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector3_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 3 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 3 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 3 > const *)arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector3_end__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 3 > *arg1 = (iDynTree::VectorFixSize< 3 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector3_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector3_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 3 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 3 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 3 > const *)arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector3_cbegin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 3 > *arg1 = (iDynTree::VectorFixSize< 3 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector3_cbegin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector3_cbegin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 3 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 3 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 3 > const *)arg1)->cbegin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector3_cend(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 3 > *arg1 = (iDynTree::VectorFixSize< 3 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector3_cend",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector3_cend" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 3 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 3 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 3 > const *)arg1)->cend();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector3_begin__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 3 > *arg1 = (iDynTree::VectorFixSize< 3 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector3_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector3_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 3 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 3 > * >(argp1);
+  result = (double *)(arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector3_begin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector3_begin__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector3_begin__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector3_begin'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 3 >::begin() const\n"
+    "    iDynTree::VectorFixSize< 3 >::begin()\n");
+  return 1;
+}
+
+
+int _wrap_Vector3_end__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 3 > *arg1 = (iDynTree::VectorFixSize< 3 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector3_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector3_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 3 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 3 > * >(argp1);
+  result = (double *)(arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector3_end(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector3_end__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector3_end__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector3_end'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 3 >::end() const\n"
+    "    iDynTree::VectorFixSize< 3 >::end()\n");
+  return 1;
+}
+
+
 int _wrap_Vector3_size(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::VectorFixSize< 3 > *arg1 = (iDynTree::VectorFixSize< 3 > *) 0 ;
   void *argp1 = 0 ;
@@ -16363,6 +16835,206 @@ int _wrap_Vector4_setVal(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
+int _wrap_Vector4_begin__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 4 > *arg1 = (iDynTree::VectorFixSize< 4 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector4_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector4_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 4 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 4 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 4 > const *)arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector4_end__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 4 > *arg1 = (iDynTree::VectorFixSize< 4 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector4_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector4_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 4 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 4 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 4 > const *)arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector4_cbegin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 4 > *arg1 = (iDynTree::VectorFixSize< 4 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector4_cbegin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector4_cbegin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 4 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 4 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 4 > const *)arg1)->cbegin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector4_cend(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 4 > *arg1 = (iDynTree::VectorFixSize< 4 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector4_cend",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector4_cend" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 4 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 4 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 4 > const *)arg1)->cend();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector4_begin__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 4 > *arg1 = (iDynTree::VectorFixSize< 4 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector4_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector4_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 4 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 4 > * >(argp1);
+  result = (double *)(arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector4_begin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector4_begin__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector4_begin__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector4_begin'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 4 >::begin() const\n"
+    "    iDynTree::VectorFixSize< 4 >::begin()\n");
+  return 1;
+}
+
+
+int _wrap_Vector4_end__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 4 > *arg1 = (iDynTree::VectorFixSize< 4 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector4_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector4_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 4 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 4 > * >(argp1);
+  result = (double *)(arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector4_end(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector4_end__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector4_end__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector4_end'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 4 >::end() const\n"
+    "    iDynTree::VectorFixSize< 4 >::end()\n");
+  return 1;
+}
+
+
 int _wrap_Vector4_size(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::VectorFixSize< 4 > *arg1 = (iDynTree::VectorFixSize< 4 > *) 0 ;
   void *argp1 = 0 ;
@@ -16874,6 +17546,206 @@ int _wrap_Vector6_setVal(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
+int _wrap_Vector6_begin__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 6 > *arg1 = (iDynTree::VectorFixSize< 6 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector6_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector6_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 6 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 6 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 6 > const *)arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector6_end__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 6 > *arg1 = (iDynTree::VectorFixSize< 6 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector6_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector6_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 6 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 6 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 6 > const *)arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector6_cbegin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 6 > *arg1 = (iDynTree::VectorFixSize< 6 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector6_cbegin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector6_cbegin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 6 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 6 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 6 > const *)arg1)->cbegin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector6_cend(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 6 > *arg1 = (iDynTree::VectorFixSize< 6 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector6_cend",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector6_cend" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 6 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 6 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 6 > const *)arg1)->cend();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector6_begin__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 6 > *arg1 = (iDynTree::VectorFixSize< 6 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector6_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector6_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 6 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 6 > * >(argp1);
+  result = (double *)(arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector6_begin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector6_begin__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector6_begin__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector6_begin'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 6 >::begin() const\n"
+    "    iDynTree::VectorFixSize< 6 >::begin()\n");
+  return 1;
+}
+
+
+int _wrap_Vector6_end__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 6 > *arg1 = (iDynTree::VectorFixSize< 6 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector6_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector6_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 6 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 6 > * >(argp1);
+  result = (double *)(arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector6_end(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector6_end__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector6_end__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector6_end'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 6 >::end() const\n"
+    "    iDynTree::VectorFixSize< 6 >::end()\n");
+  return 1;
+}
+
+
 int _wrap_Vector6_size(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::VectorFixSize< 6 > *arg1 = (iDynTree::VectorFixSize< 6 > *) 0 ;
   void *argp1 = 0 ;
@@ -17385,6 +18257,206 @@ int _wrap_Vector10_setVal(int resc, mxArray *resv[], int argc, mxArray *argv[])
 }
 
 
+int _wrap_Vector10_begin__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 10 > *arg1 = (iDynTree::VectorFixSize< 10 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector10_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector10_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 10 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 10 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 10 > const *)arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector10_end__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 10 > *arg1 = (iDynTree::VectorFixSize< 10 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector10_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector10_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 10 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 10 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 10 > const *)arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector10_cbegin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 10 > *arg1 = (iDynTree::VectorFixSize< 10 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector10_cbegin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector10_cbegin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 10 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 10 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 10 > const *)arg1)->cbegin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector10_cend(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 10 > *arg1 = (iDynTree::VectorFixSize< 10 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector10_cend",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector10_cend" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 10 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 10 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 10 > const *)arg1)->cend();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector10_begin__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 10 > *arg1 = (iDynTree::VectorFixSize< 10 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector10_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector10_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 10 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 10 > * >(argp1);
+  result = (double *)(arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector10_begin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector10_begin__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector10_begin__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector10_begin'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 10 >::begin() const\n"
+    "    iDynTree::VectorFixSize< 10 >::begin()\n");
+  return 1;
+}
+
+
+int _wrap_Vector10_end__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 10 > *arg1 = (iDynTree::VectorFixSize< 10 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector10_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector10_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 10 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 10 > * >(argp1);
+  result = (double *)(arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector10_end(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector10_end__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector10_end__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector10_end'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 10 >::end() const\n"
+    "    iDynTree::VectorFixSize< 10 >::end()\n");
+  return 1;
+}
+
+
 int _wrap_Vector10_size(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::VectorFixSize< 10 > *arg1 = (iDynTree::VectorFixSize< 10 > *) 0 ;
   void *argp1 = 0 ;
@@ -17896,6 +18968,206 @@ int _wrap_Vector16_setVal(int resc, mxArray *resv[], int argc, mxArray *argv[])
 }
 
 
+int _wrap_Vector16_begin__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 16 > *arg1 = (iDynTree::VectorFixSize< 16 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector16_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector16_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 16 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 16 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 16 > const *)arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector16_end__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 16 > *arg1 = (iDynTree::VectorFixSize< 16 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector16_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector16_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 16 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 16 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 16 > const *)arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector16_cbegin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 16 > *arg1 = (iDynTree::VectorFixSize< 16 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector16_cbegin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector16_cbegin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 16 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 16 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 16 > const *)arg1)->cbegin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector16_cend(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 16 > *arg1 = (iDynTree::VectorFixSize< 16 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector16_cend",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector16_cend" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 16 > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 16 > * >(argp1);
+  result = (double *)((iDynTree::VectorFixSize< 16 > const *)arg1)->cend();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector16_begin__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 16 > *arg1 = (iDynTree::VectorFixSize< 16 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector16_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector16_begin" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 16 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 16 > * >(argp1);
+  result = (double *)(arg1)->begin();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector16_begin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector16_begin__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector16_begin__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector16_begin'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 16 >::begin() const\n"
+    "    iDynTree::VectorFixSize< 16 >::begin()\n");
+  return 1;
+}
+
+
+int _wrap_Vector16_end__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::VectorFixSize< 16 > *arg1 = (iDynTree::VectorFixSize< 16 > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double *result = 0 ;
+  
+  if (!SWIG_check_num_args("Vector16_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Vector16_end" "', argument " "1"" of type '" "iDynTree::VectorFixSize< 16 > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::VectorFixSize< 16 > * >(argp1);
+  result = (double *)(arg1)->end();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Vector16_end(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector16_end__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Vector16_end__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'Vector16_end'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::VectorFixSize< 16 >::end() const\n"
+    "    iDynTree::VectorFixSize< 16 >::end()\n");
+  return 1;
+}
+
+
 int _wrap_Vector16_size(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::VectorFixSize< 16 > *arg1 = (iDynTree::VectorFixSize< 16 > *) 0 ;
   void *argp1 = 0 ;
@@ -61196,6 +62468,2340 @@ int _wrap_delete_LinkContactWrenches(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
+int _wrap_SolidshapesVector_pop(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::value_type result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_pop",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_pop" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  try {
+    result = (std::vector< iDynTree::SolidShape * >::value_type)std_vector_Sl_iDynTree_SolidShape_Sm__Sg__pop(arg1);
+  }
+  catch(std::out_of_range &_e) {
+    SWIG_exception_fail(SWIG_IndexError, (&_e)->what());
+  }
+  
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_brace(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::difference_type arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  ptrdiff_t val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::value_type result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_brace",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_brace" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  ecode2 = SWIG_AsVal_ptrdiff_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SolidshapesVector_brace" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::difference_type""'");
+  } 
+  arg2 = static_cast< std::vector< iDynTree::SolidShape * >::difference_type >(val2);
+  try {
+    result = (std::vector< iDynTree::SolidShape * >::value_type)std_vector_Sl_iDynTree_SolidShape_Sm__Sg__brace(arg1,arg2);
+  }
+  catch(std::out_of_range &_e) {
+    SWIG_exception_fail(SWIG_IndexError, (&_e)->what());
+  }
+  
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_setbrace(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::value_type arg2 = (std::vector< iDynTree::SolidShape * >::value_type) 0 ;
+  std::vector< iDynTree::SolidShape * >::difference_type arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  ptrdiff_t val3 ;
+  int ecode3 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_setbrace",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_setbrace" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SolidshapesVector_setbrace" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::value_type""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< iDynTree::SolidShape * >::value_type >(argp2);
+  ecode3 = SWIG_AsVal_ptrdiff_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "SolidshapesVector_setbrace" "', argument " "3"" of type '" "std::vector< iDynTree::SolidShape * >::difference_type""'");
+  } 
+  arg3 = static_cast< std::vector< iDynTree::SolidShape * >::difference_type >(val3);
+  try {
+    std_vector_Sl_iDynTree_SolidShape_Sm__Sg__setbrace(arg1,arg2,arg3);
+  }
+  catch(std::out_of_range &_e) {
+    SWIG_exception_fail(SWIG_IndexError, (&_e)->what());
+  }
+  
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_append(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::value_type arg2 = (std::vector< iDynTree::SolidShape * >::value_type) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_append",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_append" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SolidshapesVector_append" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::value_type""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< iDynTree::SolidShape * >::value_type >(argp2);
+  std_vector_Sl_iDynTree_SolidShape_Sm__Sg__append(arg1,arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_SolidshapesVector__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_SolidshapesVector",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (std::vector< iDynTree::SolidShape * > *)new std::vector< iDynTree::SolidShape * >();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_SolidshapesVector__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = 0 ;
+  int res1 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_SolidshapesVector",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    res1 = swig::asptr(argv[0], &ptr);
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_SolidshapesVector" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_SolidshapesVector" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > const &""'"); 
+    }
+    arg1 = ptr;
+  }
+  result = (std::vector< iDynTree::SolidShape * > *)new std::vector< iDynTree::SolidShape * >((std::vector< iDynTree::SolidShape * > const &)*arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_empty(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_empty",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_empty" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = (bool)((std::vector< iDynTree::SolidShape * > const *)arg1)->empty();
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_size(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::size_type result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_size",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_size" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = ((std::vector< iDynTree::SolidShape * > const *)arg1)->size();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_swap(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * > *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_swap",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_swap" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SolidshapesVector_swap" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * > &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SolidshapesVector_swap" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * > &""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp2);
+  (arg1)->swap(*arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_begin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::iterator result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_begin" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = (arg1)->begin();
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< iDynTree::SolidShape * >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_end(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::iterator result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_end" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = (arg1)->end();
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< iDynTree::SolidShape * >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_rbegin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::reverse_iterator result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_rbegin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_rbegin" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = (arg1)->rbegin();
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< iDynTree::SolidShape * >::reverse_iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_rend(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::reverse_iterator result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_rend",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_rend" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = (arg1)->rend();
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< iDynTree::SolidShape * >::reverse_iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_clear(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_clear",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_clear" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  (arg1)->clear();
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_get_allocator(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  SwigValueWrapper< std::allocator< iDynTree::SolidShape * > > result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_get_allocator",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_get_allocator" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = ((std::vector< iDynTree::SolidShape * > const *)arg1)->get_allocator();
+  _out = SWIG_NewPointerObj((new std::vector< iDynTree::SolidShape * >::allocator_type(static_cast< const std::vector< iDynTree::SolidShape * >::allocator_type& >(result))), SWIGTYPE_p_std__allocatorT_iDynTree__SolidShape_p_t, SWIG_POINTER_OWN |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_SolidshapesVector__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * >::size_type arg1 ;
+  size_t val1 ;
+  int ecode1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_SolidshapesVector",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  ecode1 = SWIG_AsVal_size_t(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_SolidshapesVector" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * >::size_type""'");
+  } 
+  arg1 = static_cast< std::vector< iDynTree::SolidShape * >::size_type >(val1);
+  result = (std::vector< iDynTree::SolidShape * > *)new std::vector< iDynTree::SolidShape * >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_pop_back(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_pop_back",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_pop_back" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  (arg1)->pop_back();
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_resize__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::size_type arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_resize",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_resize" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SolidshapesVector_resize" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::size_type""'");
+  } 
+  arg2 = static_cast< std::vector< iDynTree::SolidShape * >::size_type >(val2);
+  (arg1)->resize(arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_erase__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::iterator arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  swig::MatlabSwigIterator *iter2 = 0 ;
+  int res2 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::iterator result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_erase",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_erase" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter2), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res2) || !iter2) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_erase" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter2);
+    if (iter_t) {
+      arg2 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_erase" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+    }
+  }
+  result = std_vector_Sl_iDynTree_SolidShape_Sm__Sg__erase__SWIG_0(arg1,arg2);
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< iDynTree::SolidShape * >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_erase__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::iterator arg2 ;
+  std::vector< iDynTree::SolidShape * >::iterator arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  swig::MatlabSwigIterator *iter2 = 0 ;
+  int res2 ;
+  swig::MatlabSwigIterator *iter3 = 0 ;
+  int res3 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::iterator result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_erase",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_erase" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter2), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res2) || !iter2) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_erase" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter2);
+    if (iter_t) {
+      arg2 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_erase" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+    }
+  }
+  res3 = SWIG_ConvertPtr(argv[2], SWIG_as_voidptrptr(&iter3), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res3) || !iter3) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_erase" "', argument " "3"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter3);
+    if (iter_t) {
+      arg3 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_erase" "', argument " "3"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+    }
+  }
+  result = std_vector_Sl_iDynTree_SolidShape_Sm__Sg__erase__SWIG_1(arg1,arg2,arg3);
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< iDynTree::SolidShape * >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_erase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      swig::MatlabSwigIterator *iter = 0;
+      int res = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+      _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter) != 0));
+      if (_v) {
+        return _wrap_SolidshapesVector_erase__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      swig::MatlabSwigIterator *iter = 0;
+      int res = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+      _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter) != 0));
+      if (_v) {
+        swig::MatlabSwigIterator *iter = 0;
+        int res = SWIG_ConvertPtr(argv[2], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+        _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter) != 0));
+        if (_v) {
+          return _wrap_SolidshapesVector_erase__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SolidshapesVector_erase'."
+    "  Possible C/C++ prototypes are:\n"
+    "    std::vector< iDynTree::SolidShape * >::erase(std::vector< iDynTree::SolidShape * >::iterator)\n"
+    "    std::vector< iDynTree::SolidShape * >::erase(std::vector< iDynTree::SolidShape * >::iterator,std::vector< iDynTree::SolidShape * >::iterator)\n");
+  return 1;
+}
+
+
+int _wrap_new_SolidshapesVector__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * >::size_type arg1 ;
+  std::vector< iDynTree::SolidShape * >::value_type arg2 = (std::vector< iDynTree::SolidShape * >::value_type) 0 ;
+  size_t val1 ;
+  int ecode1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_SolidshapesVector",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  ecode1 = SWIG_AsVal_size_t(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_SolidshapesVector" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * >::size_type""'");
+  } 
+  arg1 = static_cast< std::vector< iDynTree::SolidShape * >::size_type >(val1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_SolidshapesVector" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::value_type""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< iDynTree::SolidShape * >::value_type >(argp2);
+  result = (std::vector< iDynTree::SolidShape * > *)new std::vector< iDynTree::SolidShape * >(arg1,arg2);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_SolidshapesVector(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 0) {
+    return _wrap_new_SolidshapesVector__SWIG_0(resc,resv,argc,argv);
+  }
+  if (argc == 1) {
+    int _v;
+    {
+      int res = SWIG_AsVal_size_t(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      return _wrap_new_SolidshapesVector__SWIG_2(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_SolidshapesVector__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    {
+      int res = SWIG_AsVal_size_t(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SolidShape, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_new_SolidshapesVector__SWIG_3(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_SolidshapesVector'."
+    "  Possible C/C++ prototypes are:\n"
+    "    std::vector< iDynTree::SolidShape * >::vector()\n"
+    "    std::vector< iDynTree::SolidShape * >::vector(std::vector< iDynTree::SolidShape * > const &)\n"
+    "    std::vector< iDynTree::SolidShape * >::vector(std::vector< iDynTree::SolidShape * >::size_type)\n"
+    "    std::vector< iDynTree::SolidShape * >::vector(std::vector< iDynTree::SolidShape * >::size_type,std::vector< iDynTree::SolidShape * >::value_type)\n");
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_push_back(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::value_type arg2 = (std::vector< iDynTree::SolidShape * >::value_type) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_push_back",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_push_back" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SolidshapesVector_push_back" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::value_type""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< iDynTree::SolidShape * >::value_type >(argp2);
+  (arg1)->push_back(arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_front(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::value_type result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_front",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_front" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = (std::vector< iDynTree::SolidShape * >::value_type)((std::vector< iDynTree::SolidShape * > const *)arg1)->front();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_back(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::value_type result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_back",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_back" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = (std::vector< iDynTree::SolidShape * >::value_type)((std::vector< iDynTree::SolidShape * > const *)arg1)->back();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_assign(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::size_type arg2 ;
+  std::vector< iDynTree::SolidShape * >::value_type arg3 = (std::vector< iDynTree::SolidShape * >::value_type) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_assign",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_assign" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SolidshapesVector_assign" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::size_type""'");
+  } 
+  arg2 = static_cast< std::vector< iDynTree::SolidShape * >::size_type >(val2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SolidshapesVector_assign" "', argument " "3"" of type '" "std::vector< iDynTree::SolidShape * >::value_type""'"); 
+  }
+  arg3 = reinterpret_cast< std::vector< iDynTree::SolidShape * >::value_type >(argp3);
+  (arg1)->assign(arg2,arg3);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_resize__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::size_type arg2 ;
+  std::vector< iDynTree::SolidShape * >::value_type arg3 = (std::vector< iDynTree::SolidShape * >::value_type) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_resize",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_resize" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SolidshapesVector_resize" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::size_type""'");
+  } 
+  arg2 = static_cast< std::vector< iDynTree::SolidShape * >::size_type >(val2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SolidshapesVector_resize" "', argument " "3"" of type '" "std::vector< iDynTree::SolidShape * >::value_type""'"); 
+  }
+  arg3 = reinterpret_cast< std::vector< iDynTree::SolidShape * >::value_type >(argp3);
+  (arg1)->resize(arg2,arg3);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_resize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_size_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_SolidshapesVector_resize__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_size_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SolidShape, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_SolidshapesVector_resize__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SolidshapesVector_resize'."
+    "  Possible C/C++ prototypes are:\n"
+    "    std::vector< iDynTree::SolidShape * >::resize(std::vector< iDynTree::SolidShape * >::size_type)\n"
+    "    std::vector< iDynTree::SolidShape * >::resize(std::vector< iDynTree::SolidShape * >::size_type,std::vector< iDynTree::SolidShape * >::value_type)\n");
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_insert__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::iterator arg2 ;
+  std::vector< iDynTree::SolidShape * >::value_type arg3 = (std::vector< iDynTree::SolidShape * >::value_type) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  swig::MatlabSwigIterator *iter2 = 0 ;
+  int res2 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::iterator result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_insert",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_insert" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter2), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res2) || !iter2) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_insert" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter2);
+    if (iter_t) {
+      arg2 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_insert" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+    }
+  }
+  res3 = SWIG_ConvertPtr(argv[2], &argp3,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SolidshapesVector_insert" "', argument " "3"" of type '" "std::vector< iDynTree::SolidShape * >::value_type""'"); 
+  }
+  arg3 = reinterpret_cast< std::vector< iDynTree::SolidShape * >::value_type >(argp3);
+  result = std_vector_Sl_iDynTree_SolidShape_Sm__Sg__insert__SWIG_0(arg1,arg2,arg3);
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< iDynTree::SolidShape * >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_insert__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::iterator arg2 ;
+  std::vector< iDynTree::SolidShape * >::size_type arg3 ;
+  std::vector< iDynTree::SolidShape * >::value_type arg4 = (std::vector< iDynTree::SolidShape * >::value_type) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  swig::MatlabSwigIterator *iter2 = 0 ;
+  int res2 ;
+  size_t val3 ;
+  int ecode3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_insert",argc,4,4,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_insert" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter2), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res2) || !iter2) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_insert" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter2);
+    if (iter_t) {
+      arg2 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "SolidshapesVector_insert" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::iterator""'");
+    }
+  }
+  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "SolidshapesVector_insert" "', argument " "3"" of type '" "std::vector< iDynTree::SolidShape * >::size_type""'");
+  } 
+  arg3 = static_cast< std::vector< iDynTree::SolidShape * >::size_type >(val3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "SolidshapesVector_insert" "', argument " "4"" of type '" "std::vector< iDynTree::SolidShape * >::value_type""'"); 
+  }
+  arg4 = reinterpret_cast< std::vector< iDynTree::SolidShape * >::value_type >(argp4);
+  std_vector_Sl_iDynTree_SolidShape_Sm__Sg__insert__SWIG_1(arg1,arg2,arg3,arg4);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_insert(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      swig::MatlabSwigIterator *iter = 0;
+      int res = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+      _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter) != 0));
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SolidShape, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_SolidshapesVector_insert__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 4) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      swig::MatlabSwigIterator *iter = 0;
+      int res = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+      _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< iDynTree::SolidShape * >::iterator > *>(iter) != 0));
+      if (_v) {
+        {
+          int res = SWIG_AsVal_size_t(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SolidShape, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_SolidshapesVector_insert__SWIG_1(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SolidshapesVector_insert'."
+    "  Possible C/C++ prototypes are:\n"
+    "    std::vector< iDynTree::SolidShape * >::insert(std::vector< iDynTree::SolidShape * >::iterator,std::vector< iDynTree::SolidShape * >::value_type)\n"
+    "    std::vector< iDynTree::SolidShape * >::insert(std::vector< iDynTree::SolidShape * >::iterator,std::vector< iDynTree::SolidShape * >::size_type,std::vector< iDynTree::SolidShape * >::value_type)\n");
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_reserve(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  std::vector< iDynTree::SolidShape * >::size_type arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_reserve",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_reserve" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SolidshapesVector_reserve" "', argument " "2"" of type '" "std::vector< iDynTree::SolidShape * >::size_type""'");
+  } 
+  arg2 = static_cast< std::vector< iDynTree::SolidShape * >::size_type >(val2);
+  (arg1)->reserve(arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SolidshapesVector_capacity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::SolidShape * >::size_type result;
+  
+  if (!SWIG_check_num_args("SolidshapesVector_capacity",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidshapesVector_capacity" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  result = ((std::vector< iDynTree::SolidShape * > const *)arg1)->capacity();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_delete_SolidshapesVector(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< iDynTree::SolidShape * > *arg1 = (std::vector< iDynTree::SolidShape * > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_SolidshapesVector",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_SolidshapesVector" "', argument " "1"" of type '" "std::vector< iDynTree::SolidShape * > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< iDynTree::SolidShape * > * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_pop(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_pop",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_pop" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  try {
+    result = std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__pop(arg1);
+  }
+  catch(std::out_of_range &_e) {
+    SWIG_exception_fail(SWIG_IndexError, (&_e)->what());
+  }
+  
+  _out = swig::from(static_cast< std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_brace(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::difference_type arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  ptrdiff_t val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_brace",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_brace" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  ecode2 = SWIG_AsVal_ptrdiff_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "linksSolidshapesVector_brace" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::difference_type""'");
+  } 
+  arg2 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::difference_type >(val2);
+  try {
+    result = std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__brace(arg1,arg2);
+  }
+  catch(std::out_of_range &_e) {
+    SWIG_exception_fail(SWIG_IndexError, (&_e)->what());
+  }
+  
+  _out = swig::from(static_cast< std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_setbrace(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type arg2 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::difference_type arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  ptrdiff_t val3 ;
+  int ecode3 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_setbrace",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_setbrace" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    int res = swig::asptr(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "linksSolidshapesVector_setbrace" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  ecode3 = SWIG_AsVal_ptrdiff_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "linksSolidshapesVector_setbrace" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::difference_type""'");
+  } 
+  arg3 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::difference_type >(val3);
+  try {
+    std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__setbrace(arg1,arg2,arg3);
+  }
+  catch(std::out_of_range &_e) {
+    SWIG_exception_fail(SWIG_IndexError, (&_e)->what());
+  }
+  
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_append(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_append",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_append" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    int res = swig::asptr(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "linksSolidshapesVector_append" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__append(arg1,arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_linksSolidshapesVector__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_linksSolidshapesVector",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (std::vector< std::vector< iDynTree::SolidShape * > > *)new std::vector< std::vector< iDynTree::SolidShape * > >();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_linksSolidshapesVector__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > *arg1 = 0 ;
+  int res1 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_linksSolidshapesVector",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *ptr = (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *)0;
+    res1 = swig::asptr(argv[0], &ptr);
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_linksSolidshapesVector" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_linksSolidshapesVector" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > const &""'"); 
+    }
+    arg1 = ptr;
+  }
+  result = (std::vector< std::vector< iDynTree::SolidShape * > > *)new std::vector< std::vector< iDynTree::SolidShape * > >((std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > const &)*arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_empty(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_empty",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_empty" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = (bool)((std::vector< std::vector< iDynTree::SolidShape * > > const *)arg1)->empty();
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_size(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_size",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_size" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = ((std::vector< std::vector< iDynTree::SolidShape * > > const *)arg1)->size();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_swap(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_swap",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_swap" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "linksSolidshapesVector_swap" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "linksSolidshapesVector_swap" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > &""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > * >(argp2);
+  (arg1)->swap(*arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_begin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_begin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_begin" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = (arg1)->begin();
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< std::vector< iDynTree::SolidShape * > >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_end(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_end",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_end" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = (arg1)->end();
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< std::vector< iDynTree::SolidShape * > >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_rbegin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::reverse_iterator result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_rbegin",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_rbegin" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = (arg1)->rbegin();
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< std::vector< iDynTree::SolidShape * > >::reverse_iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_rend(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::reverse_iterator result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_rend",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_rend" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = (arg1)->rend();
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< std::vector< iDynTree::SolidShape * > >::reverse_iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_clear(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_clear",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_clear" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  (arg1)->clear();
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_get_allocator(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  SwigValueWrapper< std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_get_allocator",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_get_allocator" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = ((std::vector< std::vector< iDynTree::SolidShape * > > const *)arg1)->get_allocator();
+  _out = SWIG_NewPointerObj((new std::vector< std::vector< iDynTree::SolidShape * > >::allocator_type(static_cast< const std::vector< std::vector< iDynTree::SolidShape * > >::allocator_type& >(result))), SWIGTYPE_p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t, SWIG_POINTER_OWN |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_linksSolidshapesVector__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type arg1 ;
+  size_t val1 ;
+  int ecode1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_linksSolidshapesVector",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  ecode1 = SWIG_AsVal_size_t(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_linksSolidshapesVector" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::size_type""'");
+  } 
+  arg1 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::size_type >(val1);
+  result = (std::vector< std::vector< iDynTree::SolidShape * > > *)new std::vector< std::vector< iDynTree::SolidShape * > >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_pop_back(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_pop_back",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_pop_back" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  (arg1)->pop_back();
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_resize__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_resize",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_resize" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "linksSolidshapesVector_resize" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::size_type""'");
+  } 
+  arg2 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::size_type >(val2);
+  (arg1)->resize(arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_erase__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  swig::MatlabSwigIterator *iter2 = 0 ;
+  int res2 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_erase",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_erase" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter2), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res2) || !iter2) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_erase" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter2);
+    if (iter_t) {
+      arg2 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_erase" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+    }
+  }
+  result = std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__erase__SWIG_0(arg1,arg2);
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< std::vector< iDynTree::SolidShape * > >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_erase__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator arg2 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  swig::MatlabSwigIterator *iter2 = 0 ;
+  int res2 ;
+  swig::MatlabSwigIterator *iter3 = 0 ;
+  int res3 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_erase",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_erase" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter2), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res2) || !iter2) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_erase" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter2);
+    if (iter_t) {
+      arg2 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_erase" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+    }
+  }
+  res3 = SWIG_ConvertPtr(argv[2], SWIG_as_voidptrptr(&iter3), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res3) || !iter3) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_erase" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter3);
+    if (iter_t) {
+      arg3 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_erase" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+    }
+  }
+  result = std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__erase__SWIG_1(arg1,arg2,arg3);
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< std::vector< iDynTree::SolidShape * > >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_erase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      swig::MatlabSwigIterator *iter = 0;
+      int res = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+      _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter) != 0));
+      if (_v) {
+        return _wrap_linksSolidshapesVector_erase__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      swig::MatlabSwigIterator *iter = 0;
+      int res = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+      _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter) != 0));
+      if (_v) {
+        swig::MatlabSwigIterator *iter = 0;
+        int res = SWIG_ConvertPtr(argv[2], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+        _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter) != 0));
+        if (_v) {
+          return _wrap_linksSolidshapesVector_erase__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'linksSolidshapesVector_erase'."
+    "  Possible C/C++ prototypes are:\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::erase(std::vector< std::vector< iDynTree::SolidShape * > >::iterator)\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::erase(std::vector< std::vector< iDynTree::SolidShape * > >::iterator,std::vector< std::vector< iDynTree::SolidShape * > >::iterator)\n");
+  return 1;
+}
+
+
+int _wrap_new_linksSolidshapesVector__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type arg1 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type *arg2 = 0 ;
+  size_t val1 ;
+  int ecode1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_linksSolidshapesVector",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  ecode1 = SWIG_AsVal_size_t(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_linksSolidshapesVector" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::size_type""'");
+  } 
+  arg1 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::size_type >(val1);
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    res2 = swig::asptr(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_linksSolidshapesVector" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_linksSolidshapesVector" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  result = (std::vector< std::vector< iDynTree::SolidShape * > > *)new std::vector< std::vector< iDynTree::SolidShape * > >(arg1,(std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &)*arg2);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  return 1;
+}
+
+
+int _wrap_new_linksSolidshapesVector(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 0) {
+    return _wrap_new_linksSolidshapesVector__SWIG_0(resc,resv,argc,argv);
+  }
+  if (argc == 1) {
+    int _v;
+    {
+      int res = SWIG_AsVal_size_t(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      return _wrap_new_linksSolidshapesVector__SWIG_2(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_linksSolidshapesVector__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    {
+      int res = SWIG_AsVal_size_t(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      int res = swig::asptr(argv[1], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_new_linksSolidshapesVector__SWIG_3(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_linksSolidshapesVector'."
+    "  Possible C/C++ prototypes are:\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::vector()\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::vector(std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > const &)\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::vector(std::vector< std::vector< iDynTree::SolidShape * > >::size_type)\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::vector(std::vector< std::vector< iDynTree::SolidShape * > >::size_type,std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &)\n");
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_push_back(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_push_back",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_push_back" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    res2 = swig::asptr(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "linksSolidshapesVector_push_back" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "linksSolidshapesVector_push_back" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  (arg1)->push_back((std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &)*arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_front(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type *result = 0 ;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_front",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_front" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = (std::vector< std::vector< iDynTree::SolidShape * > >::value_type *) &((std::vector< std::vector< iDynTree::SolidShape * > > const *)arg1)->front();
+  _out = swig::from(static_cast< std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > >(*result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_back(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type *result = 0 ;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_back",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_back" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = (std::vector< std::vector< iDynTree::SolidShape * > >::value_type *) &((std::vector< std::vector< iDynTree::SolidShape * > > const *)arg1)->back();
+  _out = swig::from(static_cast< std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > >(*result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_assign(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type arg2 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_assign",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_assign" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "linksSolidshapesVector_assign" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::size_type""'");
+  } 
+  arg2 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::size_type >(val2);
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "linksSolidshapesVector_assign" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "linksSolidshapesVector_assign" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    arg3 = ptr;
+  }
+  (arg1)->assign(arg2,(std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &)*arg3);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_resize__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type arg2 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_resize",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_resize" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "linksSolidshapesVector_resize" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::size_type""'");
+  } 
+  arg2 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::size_type >(val2);
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "linksSolidshapesVector_resize" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "linksSolidshapesVector_resize" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    arg3 = ptr;
+  }
+  (arg1)->resize(arg2,(std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &)*arg3);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_resize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_size_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_linksSolidshapesVector_resize__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_size_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        int res = swig::asptr(argv[2], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_linksSolidshapesVector_resize__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'linksSolidshapesVector_resize'."
+    "  Possible C/C++ prototypes are:\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::resize(std::vector< std::vector< iDynTree::SolidShape * > >::size_type)\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::resize(std::vector< std::vector< iDynTree::SolidShape * > >::size_type,std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &)\n");
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_insert__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator arg2 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  swig::MatlabSwigIterator *iter2 = 0 ;
+  int res2 ;
+  int res3 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_insert",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_insert" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter2), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res2) || !iter2) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_insert" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter2);
+    if (iter_t) {
+      arg2 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_insert" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+    }
+  }
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "linksSolidshapesVector_insert" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "linksSolidshapesVector_insert" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    arg3 = ptr;
+  }
+  result = std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__insert__SWIG_0(arg1,arg2,(std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > const &)*arg3);
+  _out = SWIG_NewPointerObj(swig::make_output_iterator(static_cast< const std::vector< std::vector< iDynTree::SolidShape * > >::iterator & >(result)),
+    swig::MatlabSwigIterator::descriptor(),SWIG_POINTER_OWN);
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_insert__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::iterator arg2 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type arg3 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::value_type *arg4 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  swig::MatlabSwigIterator *iter2 = 0 ;
+  int res2 ;
+  size_t val3 ;
+  int ecode3 = 0 ;
+  int res4 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_insert",argc,4,4,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_insert" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter2), swig::MatlabSwigIterator::descriptor(), 0);
+  if (!SWIG_IsOK(res2) || !iter2) {
+    SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_insert" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+  } else {
+    swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *iter_t = dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter2);
+    if (iter_t) {
+      arg2 = iter_t->get_current();
+    } else {
+      SWIG_exception_fail(SWIG_ArgError(SWIG_TypeError), "in method '" "linksSolidshapesVector_insert" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::iterator""'");
+    }
+  }
+  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "linksSolidshapesVector_insert" "', argument " "3"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::size_type""'");
+  } 
+  arg3 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::size_type >(val3);
+  {
+    std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *ptr = (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > > *)0;
+    res4 = swig::asptr(argv[3], &ptr);
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "linksSolidshapesVector_insert" "', argument " "4"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "linksSolidshapesVector_insert" "', argument " "4"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &""'"); 
+    }
+    arg4 = ptr;
+  }
+  std_vector_Sl_std_vector_Sl_iDynTree_SolidShape_Sm__Sg__Sg__insert__SWIG_1(arg1,arg2,arg3,(std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > const &)*arg4);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res4)) delete arg4;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res4)) delete arg4;
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_insert(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      swig::MatlabSwigIterator *iter = 0;
+      int res = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+      _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter) != 0));
+      if (_v) {
+        int res = swig::asptr(argv[2], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_linksSolidshapesVector_insert__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 4) {
+    int _v;
+    int res = swig::asptr(argv[0], (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > >**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      swig::MatlabSwigIterator *iter = 0;
+      int res = SWIG_ConvertPtr(argv[1], SWIG_as_voidptrptr(&iter), swig::MatlabSwigIterator::descriptor(), 0);
+      _v = (SWIG_IsOK(res) && iter && (dynamic_cast<swig::MatlabSwigIterator_T<std::vector< std::vector< iDynTree::SolidShape * > >::iterator > *>(iter) != 0));
+      if (_v) {
+        {
+          int res = SWIG_AsVal_size_t(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          int res = swig::asptr(argv[3], (std::vector< iDynTree::SolidShape*,std::allocator< iDynTree::SolidShape * > >**)(0));
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_linksSolidshapesVector_insert__SWIG_1(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'linksSolidshapesVector_insert'."
+    "  Possible C/C++ prototypes are:\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::insert(std::vector< std::vector< iDynTree::SolidShape * > >::iterator,std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &)\n"
+    "    std::vector< std::vector< iDynTree::SolidShape * > >::insert(std::vector< std::vector< iDynTree::SolidShape * > >::iterator,std::vector< std::vector< iDynTree::SolidShape * > >::size_type,std::vector< std::vector< iDynTree::SolidShape * > >::value_type const &)\n");
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_reserve(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_reserve",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_reserve" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "linksSolidshapesVector_reserve" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > >::size_type""'");
+  } 
+  arg2 = static_cast< std::vector< std::vector< iDynTree::SolidShape * > >::size_type >(val2);
+  (arg1)->reserve(arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_linksSolidshapesVector_capacity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape * > >::size_type result;
+  
+  if (!SWIG_check_num_args("linksSolidshapesVector_capacity",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "linksSolidshapesVector_capacity" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > const *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  result = ((std::vector< std::vector< iDynTree::SolidShape * > > const *)arg1)->capacity();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_delete_linksSolidshapesVector(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::vector< std::vector< iDynTree::SolidShape * > > *arg1 = (std::vector< std::vector< iDynTree::SolidShape * > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_linksSolidshapesVector",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_linksSolidshapesVector" "', argument " "1"" of type '" "std::vector< std::vector< iDynTree::SolidShape * > > *""'"); 
+  }
+  arg1 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape * > > * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_ForwardPositionKinematics__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Model *arg1 = 0 ;
   iDynTree::Traversal *arg2 = 0 ;
@@ -104008,6 +107614,7 @@ static swig_type_info _swigt__p_allocator_type = {"_p_allocator_type", "allocato
 static swig_type_info _swigt__p_char = {"_p_char", "char *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_const_iterator = {"_p_const_iterator", "const_iterator *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_const_pointer = {"_p_const_pointer", "const_pointer *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_const_reference = {"_p_const_reference", "const_reference *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_const_reverse_iterator = {"_p_const_reverse_iterator", "const_reverse_iterator *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_const_typed_iterator = {"_p_const_typed_iterator", "const_typed_iterator *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_difference_type = {"_p_difference_type", "difference_type *", 0, 0, (void*)0, 0};
@@ -104141,7 +107748,7 @@ static swig_type_info _swigt__p_iDynTree__SensorsList = {"_p_iDynTree__SensorsLi
 static swig_type_info _swigt__p_iDynTree__SensorsMeasurements = {"_p_iDynTree__SensorsMeasurements", "iDynTree::SensorsMeasurements *", 0, 0, (void*)"iDynTree.SensorsMeasurements", 0};
 static swig_type_info _swigt__p_iDynTree__SimpleLeggedOdometry = {"_p_iDynTree__SimpleLeggedOdometry", "iDynTree::SimpleLeggedOdometry *", 0, 0, (void*)"iDynTree.SimpleLeggedOdometry", 0};
 static swig_type_info _swigt__p_iDynTree__SixAxisForceTorqueSensor = {"_p_iDynTree__SixAxisForceTorqueSensor", "iDynTree::SixAxisForceTorqueSensor *", 0, 0, (void*)"iDynTree.SixAxisForceTorqueSensor", 0};
-static swig_type_info _swigt__p_iDynTree__SolidShape = {"_p_iDynTree__SolidShape", "iDynTree::SolidShape *", 0, 0, (void*)"iDynTree.SolidShape", 0};
+static swig_type_info _swigt__p_iDynTree__SolidShape = {"_p_iDynTree__SolidShape", "std::vector< iDynTree::SolidShape * >::value_type|iDynTree::SolidShape *", 0, 0, (void*)"iDynTree.SolidShape", 0};
 static swig_type_info _swigt__p_iDynTree__SpanT_double__1_t = {"_p_iDynTree__SpanT_double__1_t", "iDynTree::Span< iDynTree::Span< double,-1 >::element_type,-1 > *|iDynTree::Span< double,-1 > *", 0, 0, (void*)"iDynTree.DynamicSpan", 0};
 static swig_type_info _swigt__p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t = {"_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t", "iDynTree::SparseMatrix< iDynTree::ColumnMajor > *", 0, 0, (void*)"iDynTree.SparseMatrixColMajor", 0};
 static swig_type_info _swigt__p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t = {"_p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t", "iDynTree::SparseMatrix< iDynTree::RowMajor > *", 0, 0, (void*)"iDynTree.SparseMatrixRowMajor", 0};
@@ -104189,7 +107796,9 @@ static swig_type_info _swigt__p_reverse_iterator = {"_p_reverse_iterator", "reve
 static swig_type_info _swigt__p_size_type = {"_p_size_type", "size_type *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t = {"_p_std__allocatorT_iDynTree__BerdyDynamicVariable_t", "std::vector< iDynTree::BerdyDynamicVariable >::allocator_type *|std::allocator< iDynTree::BerdyDynamicVariable > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__allocatorT_iDynTree__BerdySensor_t = {"_p_std__allocatorT_iDynTree__BerdySensor_t", "std::allocator< iDynTree::BerdySensor > *|std::vector< iDynTree::BerdySensor >::allocator_type *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_std__allocatorT_iDynTree__SolidShape_p_t = {"_p_std__allocatorT_iDynTree__SolidShape_p_t", "std::allocator< iDynTree::SolidShape * > *|std::vector< iDynTree::SolidShape * >::allocator_type *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__allocatorT_std__string_t = {"_p_std__allocatorT_std__string_t", "std::vector< std::string >::allocator_type *|std::allocator< std::string > *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t = {"_p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t", "std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > *|std::vector< std::vector< iDynTree::SolidShape * > >::allocator_type *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t = {"_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t", "iDynTree::Span< double,-1 >::reverse_iterator *|std::reverse_iterator< iDynTree::details::span_iterator< iDynTree::Span< double,-1 >,false > > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t = {"_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t", "std::reverse_iterator< iDynTree::details::span_iterator< iDynTree::Span< double,-1 >,true > > *|iDynTree::Span< double,-1 >::const_reverse_iterator *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__string = {"_p_std__string", "std::string *", 0, 0, (void*)0, 0};
@@ -104199,6 +107808,7 @@ static swig_type_info _swigt__p_std__vectorT_iDynTree__MatrixDynSize_std__alloca
 static swig_type_info _swigt__p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t = {"_p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t", "std::vector< iDynTree::Polygon,std::allocator< iDynTree::Polygon > > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t = {"_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t", "std::vector< iDynTree::Position,std::allocator< iDynTree::Position > > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t = {"_p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t", "std::vector< iDynTree::Regressors::DynamicsRegressorParameter,std::allocator< iDynTree::Regressors::DynamicsRegressorParameter > > *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t = {"_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t", "std::vector< iDynTree::SolidShape * > *|std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > *", 0, 0, (void*)"iDynTree.SolidshapesVector", 0};
 static swig_type_info _swigt__p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t = {"_p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t", "std::vector< iDynTree::Transform,std::allocator< iDynTree::Transform > > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t = {"_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t", "std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t = {"_p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t", "std::vector< iDynTree::Vector2,std::allocator< iDynTree::Vector2 > > *|std::vector< iDynTree::VectorFixSize< 2 >,std::allocator< iDynTree::VectorFixSize< 2 > > > *", 0, 0, (void*)0, 0};
@@ -104206,7 +107816,7 @@ static swig_type_info _swigt__p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__a
 static swig_type_info _swigt__p_std__vectorT_int_std__allocatorT_int_t_t = {"_p_std__vectorT_int_std__allocatorT_int_t_t", "std::vector< int,std::allocator< int > > *|std::vector< iDynTree::FrameIndex,std::allocator< iDynTree::FrameIndex > > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__vectorT_std__pairT_double_double_t_std__allocatorT_std__pairT_double_double_t_t_t = {"_p_std__vectorT_std__pairT_double_double_t_std__allocatorT_std__pairT_double_double_t_t_t", "std::vector< std::pair< double,double >,std::allocator< std::pair< double,double > > > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_std__vectorT_std__string_std__allocatorT_std__string_t_t = {"_p_std__vectorT_std__string_std__allocatorT_std__string_t_t", "std::vector< std::string,std::allocator< std::string > > *|std::vector< std::string > *", 0, 0, (void*)"iDynTree.StringVector", 0};
-static swig_type_info _swigt__p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t = {"_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t", "std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t = {"_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t", "std::vector< std::vector< iDynTree::SolidShape * > > *|std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *|std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > *", 0, 0, (void*)"iDynTree.linksSolidshapesVector", 0};
 static swig_type_info _swigt__p_swig__MatlabSwigIterator = {"_p_swig__MatlabSwigIterator", "swig::MatlabSwigIterator *", 0, 0, (void*)"iDynTree.MatlabSwigIterator", 0};
 static swig_type_info _swigt__p_typed_iterator = {"_p_typed_iterator", "typed_iterator *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_unsigned_int = {"_p_unsigned_int", "unsigned int *", 0, 0, (void*)0, 0};
@@ -104235,6 +107845,7 @@ static swig_type_info *swig_type_initial[] = {
   &_swigt__p_char,
   &_swigt__p_const_iterator,
   &_swigt__p_const_pointer,
+  &_swigt__p_const_reference,
   &_swigt__p_const_reverse_iterator,
   &_swigt__p_const_typed_iterator,
   &_swigt__p_difference_type,
@@ -104416,7 +108027,9 @@ static swig_type_info *swig_type_initial[] = {
   &_swigt__p_size_type,
   &_swigt__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t,
   &_swigt__p_std__allocatorT_iDynTree__BerdySensor_t,
+  &_swigt__p_std__allocatorT_iDynTree__SolidShape_p_t,
   &_swigt__p_std__allocatorT_std__string_t,
+  &_swigt__p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t,
   &_swigt__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t,
   &_swigt__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t,
   &_swigt__p_std__string,
@@ -104426,6 +108039,7 @@ static swig_type_info *swig_type_initial[] = {
   &_swigt__p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t,
   &_swigt__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t,
   &_swigt__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t,
+  &_swigt__p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t,
   &_swigt__p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t,
   &_swigt__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t,
   &_swigt__p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t,
@@ -104462,6 +108076,7 @@ static swig_cast_info _swigc__p_allocator_type[] = {  {&_swigt__p_allocator_type
 static swig_cast_info _swigc__p_char[] = {  {&_swigt__p_char, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_const_iterator[] = {  {&_swigt__p_const_iterator, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_const_pointer[] = {  {&_swigt__p_const_pointer, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_const_reference[] = {  {&_swigt__p_const_reference, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_const_reverse_iterator[] = {  {&_swigt__p_const_reverse_iterator, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_const_typed_iterator[] = {  {&_swigt__p_const_typed_iterator, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_difference_type[] = {  {&_swigt__p_difference_type, 0, 0, 0},{0, 0, 0, 0}};
@@ -104643,7 +108258,9 @@ static swig_cast_info _swigc__p_reverse_iterator[] = {  {&_swigt__p_reverse_iter
 static swig_cast_info _swigc__p_size_type[] = {  {&_swigt__p_size_type, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t[] = {  {&_swigt__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__allocatorT_iDynTree__BerdySensor_t[] = {  {&_swigt__p_std__allocatorT_iDynTree__BerdySensor_t, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_std__allocatorT_iDynTree__SolidShape_p_t[] = {  {&_swigt__p_std__allocatorT_iDynTree__SolidShape_p_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__allocatorT_std__string_t[] = {  {&_swigt__p_std__allocatorT_std__string_t, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t[] = {  {&_swigt__p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t[] = {  {&_swigt__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t[] = {  {&_swigt__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__string[] = {  {&_swigt__p_std__string, 0, 0, 0},{0, 0, 0, 0}};
@@ -104653,6 +108270,7 @@ static swig_cast_info _swigc__p_std__vectorT_iDynTree__MatrixDynSize_std__alloca
 static swig_cast_info _swigc__p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t[] = {  {&_swigt__p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t[] = {  {&_swigt__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t[] = {  {&_swigt__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t[] = {  {&_swigt__p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t[] = {  {&_swigt__p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t[] = {  {&_swigt__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t[] = {  {&_swigt__p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t, 0, 0, 0},{0, 0, 0, 0}};
@@ -104689,6 +108307,7 @@ static swig_cast_info *swig_cast_initial[] = {
   _swigc__p_char,
   _swigc__p_const_iterator,
   _swigc__p_const_pointer,
+  _swigc__p_const_reference,
   _swigc__p_const_reverse_iterator,
   _swigc__p_const_typed_iterator,
   _swigc__p_difference_type,
@@ -104870,7 +108489,9 @@ static swig_cast_info *swig_cast_initial[] = {
   _swigc__p_size_type,
   _swigc__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t,
   _swigc__p_std__allocatorT_iDynTree__BerdySensor_t,
+  _swigc__p_std__allocatorT_iDynTree__SolidShape_p_t,
   _swigc__p_std__allocatorT_std__string_t,
+  _swigc__p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t,
   _swigc__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t,
   _swigc__p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t,
   _swigc__p_std__string,
@@ -104880,6 +108501,7 @@ static swig_cast_info *swig_cast_initial[] = {
   _swigc__p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t,
   _swigc__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t,
   _swigc__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t,
+  _swigc__p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t,
   _swigc__p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t,
   _swigc__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t,
   _swigc__p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t,
@@ -105470,1975 +109092,2049 @@ SWIGINTERN const char* SwigFunctionName(int fcn_id) {
   case 161: return "VectorDynSize_brace";
   case 162: return "VectorDynSize_getVal";
   case 163: return "VectorDynSize_setVal";
-  case 164: return "VectorDynSize_size";
-  case 165: return "VectorDynSize_data";
-  case 166: return "VectorDynSize_zero";
-  case 167: return "VectorDynSize_reserve";
-  case 168: return "VectorDynSize_resize";
-  case 169: return "VectorDynSize_shrink_to_fit";
-  case 170: return "VectorDynSize_capacity";
-  case 171: return "VectorDynSize_fillBuffer";
-  case 172: return "VectorDynSize_toString";
-  case 173: return "VectorDynSize_display";
-  case 174: return "VectorDynSize_toMatlab";
-  case 175: return "VectorDynSize_fromMatlab";
-  case 176: return "new_Matrix1x6";
-  case 177: return "Matrix1x6_paren";
-  case 178: return "Matrix1x6_getVal";
-  case 179: return "Matrix1x6_setVal";
-  case 180: return "Matrix1x6_rows";
-  case 181: return "Matrix1x6_cols";
-  case 182: return "Matrix1x6_data";
-  case 183: return "Matrix1x6_zero";
-  case 184: return "Matrix1x6_fillRowMajorBuffer";
-  case 185: return "Matrix1x6_fillColMajorBuffer";
-  case 186: return "Matrix1x6_toString";
-  case 187: return "Matrix1x6_display";
-  case 188: return "Matrix1x6_toMatlab";
-  case 189: return "Matrix1x6_fromMatlab";
-  case 190: return "delete_Matrix1x6";
-  case 191: return "new_Matrix2x3";
-  case 192: return "Matrix2x3_paren";
-  case 193: return "Matrix2x3_getVal";
-  case 194: return "Matrix2x3_setVal";
-  case 195: return "Matrix2x3_rows";
-  case 196: return "Matrix2x3_cols";
-  case 197: return "Matrix2x3_data";
-  case 198: return "Matrix2x3_zero";
-  case 199: return "Matrix2x3_fillRowMajorBuffer";
-  case 200: return "Matrix2x3_fillColMajorBuffer";
-  case 201: return "Matrix2x3_toString";
-  case 202: return "Matrix2x3_display";
-  case 203: return "Matrix2x3_toMatlab";
-  case 204: return "Matrix2x3_fromMatlab";
-  case 205: return "delete_Matrix2x3";
-  case 206: return "new_Matrix3x3";
-  case 207: return "Matrix3x3_paren";
-  case 208: return "Matrix3x3_getVal";
-  case 209: return "Matrix3x3_setVal";
-  case 210: return "Matrix3x3_rows";
-  case 211: return "Matrix3x3_cols";
-  case 212: return "Matrix3x3_data";
-  case 213: return "Matrix3x3_zero";
-  case 214: return "Matrix3x3_fillRowMajorBuffer";
-  case 215: return "Matrix3x3_fillColMajorBuffer";
-  case 216: return "Matrix3x3_toString";
-  case 217: return "Matrix3x3_display";
-  case 218: return "Matrix3x3_toMatlab";
-  case 219: return "Matrix3x3_fromMatlab";
-  case 220: return "delete_Matrix3x3";
-  case 221: return "new_Matrix4x4";
-  case 222: return "Matrix4x4_paren";
-  case 223: return "Matrix4x4_getVal";
-  case 224: return "Matrix4x4_setVal";
-  case 225: return "Matrix4x4_rows";
-  case 226: return "Matrix4x4_cols";
-  case 227: return "Matrix4x4_data";
-  case 228: return "Matrix4x4_zero";
-  case 229: return "Matrix4x4_fillRowMajorBuffer";
-  case 230: return "Matrix4x4_fillColMajorBuffer";
-  case 231: return "Matrix4x4_toString";
-  case 232: return "Matrix4x4_display";
-  case 233: return "Matrix4x4_toMatlab";
-  case 234: return "Matrix4x4_fromMatlab";
-  case 235: return "delete_Matrix4x4";
-  case 236: return "new_Matrix6x6";
-  case 237: return "Matrix6x6_paren";
-  case 238: return "Matrix6x6_getVal";
-  case 239: return "Matrix6x6_setVal";
-  case 240: return "Matrix6x6_rows";
-  case 241: return "Matrix6x6_cols";
-  case 242: return "Matrix6x6_data";
-  case 243: return "Matrix6x6_zero";
-  case 244: return "Matrix6x6_fillRowMajorBuffer";
-  case 245: return "Matrix6x6_fillColMajorBuffer";
-  case 246: return "Matrix6x6_toString";
-  case 247: return "Matrix6x6_display";
-  case 248: return "Matrix6x6_toMatlab";
-  case 249: return "Matrix6x6_fromMatlab";
-  case 250: return "delete_Matrix6x6";
-  case 251: return "new_Matrix6x10";
-  case 252: return "Matrix6x10_paren";
-  case 253: return "Matrix6x10_getVal";
-  case 254: return "Matrix6x10_setVal";
-  case 255: return "Matrix6x10_rows";
-  case 256: return "Matrix6x10_cols";
-  case 257: return "Matrix6x10_data";
-  case 258: return "Matrix6x10_zero";
-  case 259: return "Matrix6x10_fillRowMajorBuffer";
-  case 260: return "Matrix6x10_fillColMajorBuffer";
-  case 261: return "Matrix6x10_toString";
-  case 262: return "Matrix6x10_display";
-  case 263: return "Matrix6x10_toMatlab";
-  case 264: return "Matrix6x10_fromMatlab";
-  case 265: return "delete_Matrix6x10";
-  case 266: return "new_Matrix10x16";
-  case 267: return "Matrix10x16_paren";
-  case 268: return "Matrix10x16_getVal";
-  case 269: return "Matrix10x16_setVal";
-  case 270: return "Matrix10x16_rows";
-  case 271: return "Matrix10x16_cols";
-  case 272: return "Matrix10x16_data";
-  case 273: return "Matrix10x16_zero";
-  case 274: return "Matrix10x16_fillRowMajorBuffer";
-  case 275: return "Matrix10x16_fillColMajorBuffer";
-  case 276: return "Matrix10x16_toString";
-  case 277: return "Matrix10x16_display";
-  case 278: return "Matrix10x16_toMatlab";
-  case 279: return "Matrix10x16_fromMatlab";
-  case 280: return "delete_Matrix10x16";
-  case 281: return "new_Vector3";
-  case 282: return "Vector3_paren";
-  case 283: return "Vector3_brace";
-  case 284: return "Vector3_getVal";
-  case 285: return "Vector3_setVal";
-  case 286: return "Vector3_size";
-  case 287: return "Vector3_data";
-  case 288: return "Vector3_zero";
-  case 289: return "Vector3_fillBuffer";
-  case 290: return "Vector3_toString";
-  case 291: return "Vector3_display";
-  case 292: return "Vector3_toMatlab";
-  case 293: return "Vector3_fromMatlab";
-  case 294: return "delete_Vector3";
-  case 295: return "new_Vector4";
-  case 296: return "Vector4_paren";
-  case 297: return "Vector4_brace";
-  case 298: return "Vector4_getVal";
-  case 299: return "Vector4_setVal";
-  case 300: return "Vector4_size";
-  case 301: return "Vector4_data";
-  case 302: return "Vector4_zero";
-  case 303: return "Vector4_fillBuffer";
-  case 304: return "Vector4_toString";
-  case 305: return "Vector4_display";
-  case 306: return "Vector4_toMatlab";
-  case 307: return "Vector4_fromMatlab";
-  case 308: return "delete_Vector4";
-  case 309: return "new_Vector6";
-  case 310: return "Vector6_paren";
-  case 311: return "Vector6_brace";
-  case 312: return "Vector6_getVal";
-  case 313: return "Vector6_setVal";
-  case 314: return "Vector6_size";
-  case 315: return "Vector6_data";
-  case 316: return "Vector6_zero";
-  case 317: return "Vector6_fillBuffer";
-  case 318: return "Vector6_toString";
-  case 319: return "Vector6_display";
-  case 320: return "Vector6_toMatlab";
-  case 321: return "Vector6_fromMatlab";
-  case 322: return "delete_Vector6";
-  case 323: return "new_Vector10";
-  case 324: return "Vector10_paren";
-  case 325: return "Vector10_brace";
-  case 326: return "Vector10_getVal";
-  case 327: return "Vector10_setVal";
-  case 328: return "Vector10_size";
-  case 329: return "Vector10_data";
-  case 330: return "Vector10_zero";
-  case 331: return "Vector10_fillBuffer";
-  case 332: return "Vector10_toString";
-  case 333: return "Vector10_display";
-  case 334: return "Vector10_toMatlab";
-  case 335: return "Vector10_fromMatlab";
-  case 336: return "delete_Vector10";
-  case 337: return "new_Vector16";
-  case 338: return "Vector16_paren";
-  case 339: return "Vector16_brace";
-  case 340: return "Vector16_getVal";
-  case 341: return "Vector16_setVal";
-  case 342: return "Vector16_size";
-  case 343: return "Vector16_data";
-  case 344: return "Vector16_zero";
-  case 345: return "Vector16_fillBuffer";
-  case 346: return "Vector16_toString";
-  case 347: return "Vector16_display";
-  case 348: return "Vector16_toMatlab";
-  case 349: return "Vector16_fromMatlab";
-  case 350: return "delete_Vector16";
-  case 351: return "new_PositionRaw";
-  case 352: return "PositionRaw_changePoint";
-  case 353: return "PositionRaw_changeRefPoint";
-  case 354: return "PositionRaw_compose";
-  case 355: return "PositionRaw_inverse";
-  case 356: return "PositionRaw_changePointOf";
-  case 357: return "PositionRaw_toString";
-  case 358: return "PositionRaw_display";
-  case 359: return "delete_PositionRaw";
-  case 360: return "new_PositionSemantics";
-  case 361: return "PositionSemantics_setToUnknown";
-  case 362: return "PositionSemantics_getPoint";
-  case 363: return "PositionSemantics_getBody";
-  case 364: return "PositionSemantics_getReferencePoint";
-  case 365: return "PositionSemantics_getRefBody";
-  case 366: return "PositionSemantics_getCoordinateFrame";
-  case 367: return "PositionSemantics_setPoint";
-  case 368: return "PositionSemantics_setBody";
-  case 369: return "PositionSemantics_setReferencePoint";
-  case 370: return "PositionSemantics_setRefBody";
-  case 371: return "PositionSemantics_setCoordinateFrame";
-  case 372: return "PositionSemantics_changePoint";
-  case 373: return "PositionSemantics_changeRefPoint";
-  case 374: return "PositionSemantics_compose";
-  case 375: return "PositionSemantics_inverse";
-  case 376: return "PositionSemantics_toString";
-  case 377: return "PositionSemantics_display";
-  case 378: return "delete_PositionSemantics";
-  case 379: return "new_Position";
-  case 380: return "Position_getSemantics";
-  case 381: return "Position_changePoint";
-  case 382: return "Position_changeRefPoint";
-  case 383: return "Position_changeCoordinateFrame";
-  case 384: return "Position_compose";
-  case 385: return "Position_inverse";
-  case 386: return "Position_changePointOf";
-  case 387: return "Position_plus";
-  case 388: return "Position_minus";
-  case 389: return "Position_uminus";
-  case 390: return "Position_mtimes";
-  case 391: return "Position_toString";
-  case 392: return "Position_display";
-  case 393: return "Position_Zero";
-  case 394: return "delete_Position";
-  case 395: return "new_GeomVector3Semantics__LinearMotionVector3Semantics";
-  case 396: return "GeomVector3Semantics__LinearMotionVector3Semantics_setToUnknown";
-  case 397: return "GeomVector3Semantics__LinearMotionVector3Semantics_getBody";
-  case 398: return "GeomVector3Semantics__LinearMotionVector3Semantics_getRefBody";
-  case 399: return "GeomVector3Semantics__LinearMotionVector3Semantics_getCoordinateFrame";
-  case 400: return "GeomVector3Semantics__LinearMotionVector3Semantics_isUnknown";
-  case 401: return "GeomVector3Semantics__LinearMotionVector3Semantics_changeCoordFrame";
-  case 402: return "GeomVector3Semantics__LinearMotionVector3Semantics_compose";
-  case 403: return "GeomVector3Semantics__LinearMotionVector3Semantics_inverse";
-  case 404: return "GeomVector3Semantics__LinearMotionVector3Semantics_dot";
-  case 405: return "delete_GeomVector3Semantics__LinearMotionVector3Semantics";
-  case 406: return "new_GeomVector3Semantics__AngularMotionVector3Semantics";
-  case 407: return "GeomVector3Semantics__AngularMotionVector3Semantics_setToUnknown";
-  case 408: return "GeomVector3Semantics__AngularMotionVector3Semantics_getBody";
-  case 409: return "GeomVector3Semantics__AngularMotionVector3Semantics_getRefBody";
-  case 410: return "GeomVector3Semantics__AngularMotionVector3Semantics_getCoordinateFrame";
-  case 411: return "GeomVector3Semantics__AngularMotionVector3Semantics_isUnknown";
-  case 412: return "GeomVector3Semantics__AngularMotionVector3Semantics_changeCoordFrame";
-  case 413: return "GeomVector3Semantics__AngularMotionVector3Semantics_compose";
-  case 414: return "GeomVector3Semantics__AngularMotionVector3Semantics_inverse";
-  case 415: return "GeomVector3Semantics__AngularMotionVector3Semantics_dot";
-  case 416: return "delete_GeomVector3Semantics__AngularMotionVector3Semantics";
-  case 417: return "new_GeomVector3Semantics__LinearForceVector3Semantics";
-  case 418: return "GeomVector3Semantics__LinearForceVector3Semantics_setToUnknown";
-  case 419: return "GeomVector3Semantics__LinearForceVector3Semantics_getBody";
-  case 420: return "GeomVector3Semantics__LinearForceVector3Semantics_getRefBody";
-  case 421: return "GeomVector3Semantics__LinearForceVector3Semantics_getCoordinateFrame";
-  case 422: return "GeomVector3Semantics__LinearForceVector3Semantics_isUnknown";
-  case 423: return "GeomVector3Semantics__LinearForceVector3Semantics_changeCoordFrame";
-  case 424: return "GeomVector3Semantics__LinearForceVector3Semantics_compose";
-  case 425: return "GeomVector3Semantics__LinearForceVector3Semantics_inverse";
-  case 426: return "GeomVector3Semantics__LinearForceVector3Semantics_dot";
-  case 427: return "delete_GeomVector3Semantics__LinearForceVector3Semantics";
-  case 428: return "new_GeomVector3Semantics__AngularForceVector3Semantics";
-  case 429: return "GeomVector3Semantics__AngularForceVector3Semantics_setToUnknown";
-  case 430: return "GeomVector3Semantics__AngularForceVector3Semantics_getBody";
-  case 431: return "GeomVector3Semantics__AngularForceVector3Semantics_getRefBody";
-  case 432: return "GeomVector3Semantics__AngularForceVector3Semantics_getCoordinateFrame";
-  case 433: return "GeomVector3Semantics__AngularForceVector3Semantics_isUnknown";
-  case 434: return "GeomVector3Semantics__AngularForceVector3Semantics_changeCoordFrame";
-  case 435: return "GeomVector3Semantics__AngularForceVector3Semantics_compose";
-  case 436: return "GeomVector3Semantics__AngularForceVector3Semantics_inverse";
-  case 437: return "GeomVector3Semantics__AngularForceVector3Semantics_dot";
-  case 438: return "delete_GeomVector3Semantics__AngularForceVector3Semantics";
-  case 439: return "GeomVector3__LinearMotionVector3_semantics_get";
-  case 440: return "GeomVector3__LinearMotionVector3_semantics_set";
-  case 441: return "new_GeomVector3__LinearMotionVector3";
-  case 442: return "GeomVector3__LinearMotionVector3_setSemantics";
-  case 443: return "GeomVector3__LinearMotionVector3_changeCoordFrame";
-  case 444: return "GeomVector3__LinearMotionVector3_compose";
-  case 445: return "GeomVector3__LinearMotionVector3_inverse";
-  case 446: return "GeomVector3__LinearMotionVector3_dot";
-  case 447: return "GeomVector3__LinearMotionVector3_plus";
-  case 448: return "GeomVector3__LinearMotionVector3_minus";
-  case 449: return "GeomVector3__LinearMotionVector3_uminus";
-  case 450: return "delete_GeomVector3__LinearMotionVector3";
-  case 451: return "GeomVector3__AngularMotionVector3_semantics_get";
-  case 452: return "GeomVector3__AngularMotionVector3_semantics_set";
-  case 453: return "new_GeomVector3__AngularMotionVector3";
-  case 454: return "GeomVector3__AngularMotionVector3_setSemantics";
-  case 455: return "GeomVector3__AngularMotionVector3_changeCoordFrame";
-  case 456: return "GeomVector3__AngularMotionVector3_compose";
-  case 457: return "GeomVector3__AngularMotionVector3_inverse";
-  case 458: return "GeomVector3__AngularMotionVector3_dot";
-  case 459: return "GeomVector3__AngularMotionVector3_plus";
-  case 460: return "GeomVector3__AngularMotionVector3_minus";
-  case 461: return "GeomVector3__AngularMotionVector3_uminus";
-  case 462: return "delete_GeomVector3__AngularMotionVector3";
-  case 463: return "GeomVector3__LinearForceVector3_semantics_get";
-  case 464: return "GeomVector3__LinearForceVector3_semantics_set";
-  case 465: return "new_GeomVector3__LinearForceVector3";
-  case 466: return "GeomVector3__LinearForceVector3_setSemantics";
-  case 467: return "GeomVector3__LinearForceVector3_changeCoordFrame";
-  case 468: return "GeomVector3__LinearForceVector3_compose";
-  case 469: return "GeomVector3__LinearForceVector3_inverse";
-  case 470: return "GeomVector3__LinearForceVector3_dot";
-  case 471: return "GeomVector3__LinearForceVector3_plus";
-  case 472: return "GeomVector3__LinearForceVector3_minus";
-  case 473: return "GeomVector3__LinearForceVector3_uminus";
-  case 474: return "delete_GeomVector3__LinearForceVector3";
-  case 475: return "GeomVector3__AngularForceVector3_semantics_get";
-  case 476: return "GeomVector3__AngularForceVector3_semantics_set";
-  case 477: return "new_GeomVector3__AngularForceVector3";
-  case 478: return "GeomVector3__AngularForceVector3_setSemantics";
-  case 479: return "GeomVector3__AngularForceVector3_changeCoordFrame";
-  case 480: return "GeomVector3__AngularForceVector3_compose";
-  case 481: return "GeomVector3__AngularForceVector3_inverse";
-  case 482: return "GeomVector3__AngularForceVector3_dot";
-  case 483: return "GeomVector3__AngularForceVector3_plus";
-  case 484: return "GeomVector3__AngularForceVector3_minus";
-  case 485: return "GeomVector3__AngularForceVector3_uminus";
-  case 486: return "delete_GeomVector3__AngularForceVector3";
-  case 487: return "new_ForceVector3Semantics__LinearForceVector3Semantics";
-  case 488: return "ForceVector3Semantics__LinearForceVector3Semantics_compose";
-  case 489: return "ForceVector3Semantics__LinearForceVector3Semantics_inverse";
-  case 490: return "delete_ForceVector3Semantics__LinearForceVector3Semantics";
-  case 491: return "new_ForceVector3Semantics__AngularForceVector3Semantics";
-  case 492: return "ForceVector3Semantics__AngularForceVector3Semantics_compose";
-  case 493: return "ForceVector3Semantics__AngularForceVector3Semantics_inverse";
-  case 494: return "delete_ForceVector3Semantics__AngularForceVector3Semantics";
-  case 495: return "new_MotionVector3__LinearMotionVector3";
-  case 496: return "MotionVector3__LinearMotionVector3_cross";
-  case 497: return "delete_MotionVector3__LinearMotionVector3";
-  case 498: return "new_MotionVector3__AngularMotionVector3";
-  case 499: return "MotionVector3__AngularMotionVector3_cross";
-  case 500: return "delete_MotionVector3__AngularMotionVector3";
-  case 501: return "new_ForceVector3__LinearForceVector3";
-  case 502: return "delete_ForceVector3__LinearForceVector3";
-  case 503: return "new_ForceVector3__AngularForceVector3";
-  case 504: return "delete_ForceVector3__AngularForceVector3";
-  case 505: return "new_LinearMotionVector3Semantics";
-  case 506: return "LinearMotionVector3Semantics_changePoint";
-  case 507: return "LinearMotionVector3Semantics_compose";
-  case 508: return "delete_LinearMotionVector3Semantics";
-  case 509: return "new_LinearMotionVector3";
-  case 510: return "LinearMotionVector3_changePoint";
-  case 511: return "delete_LinearMotionVector3";
-  case 512: return "new_AngularMotionVector3Semantics";
-  case 513: return "delete_AngularMotionVector3Semantics";
-  case 514: return "new_AngularMotionVector3";
-  case 515: return "AngularMotionVector3_exp";
-  case 516: return "delete_AngularMotionVector3";
-  case 517: return "new_LinearForceVector3Semantics";
-  case 518: return "delete_LinearForceVector3Semantics";
-  case 519: return "new_LinearForceVector3";
-  case 520: return "delete_LinearForceVector3";
-  case 521: return "new_AngularForceVector3Semantics";
-  case 522: return "AngularForceVector3Semantics_changePoint";
-  case 523: return "AngularForceVector3Semantics_compose";
-  case 524: return "delete_AngularForceVector3Semantics";
-  case 525: return "new_AngularForceVector3";
-  case 526: return "AngularForceVector3_changePoint";
-  case 527: return "delete_AngularForceVector3";
-  case 528: return "new_SpatialMotionVectorSemanticsBase";
-  case 529: return "SpatialMotionVectorSemanticsBase_check_linear2angularConsistency";
-  case 530: return "SpatialMotionVectorSemanticsBase_toString";
-  case 531: return "SpatialMotionVectorSemanticsBase_display";
-  case 532: return "delete_SpatialMotionVectorSemanticsBase";
-  case 533: return "new_SpatialForceVectorSemanticsBase";
-  case 534: return "SpatialForceVectorSemanticsBase_check_linear2angularConsistency";
-  case 535: return "SpatialForceVectorSemanticsBase_toString";
-  case 536: return "SpatialForceVectorSemanticsBase_display";
-  case 537: return "delete_SpatialForceVectorSemanticsBase";
-  case 538: return "new_SpatialMotionVectorBase";
-  case 539: return "SpatialMotionVectorBase_getLinearVec3";
-  case 540: return "SpatialMotionVectorBase_getAngularVec3";
-  case 541: return "SpatialMotionVectorBase_setLinearVec3";
-  case 542: return "SpatialMotionVectorBase_setAngularVec3";
-  case 543: return "SpatialMotionVectorBase_paren";
-  case 544: return "SpatialMotionVectorBase_getVal";
-  case 545: return "SpatialMotionVectorBase_setVal";
-  case 546: return "SpatialMotionVectorBase_size";
-  case 547: return "SpatialMotionVectorBase_zero";
-  case 548: return "SpatialMotionVectorBase_changePoint";
-  case 549: return "SpatialMotionVectorBase_changeCoordFrame";
-  case 550: return "SpatialMotionVectorBase_compose";
-  case 551: return "SpatialMotionVectorBase_inverse";
-  case 552: return "SpatialMotionVectorBase_dot";
-  case 553: return "SpatialMotionVectorBase_plus";
-  case 554: return "SpatialMotionVectorBase_minus";
-  case 555: return "SpatialMotionVectorBase_uminus";
-  case 556: return "SpatialMotionVectorBase_Zero";
-  case 557: return "SpatialMotionVectorBase_asVector";
-  case 558: return "SpatialMotionVectorBase_toString";
-  case 559: return "SpatialMotionVectorBase_display";
-  case 560: return "SpatialMotionVectorBase_toMatlab";
-  case 561: return "SpatialMotionVectorBase_fromMatlab";
-  case 562: return "delete_SpatialMotionVectorBase";
-  case 563: return "new_SpatialForceVectorBase";
-  case 564: return "SpatialForceVectorBase_getLinearVec3";
-  case 565: return "SpatialForceVectorBase_getAngularVec3";
-  case 566: return "SpatialForceVectorBase_setLinearVec3";
-  case 567: return "SpatialForceVectorBase_setAngularVec3";
-  case 568: return "SpatialForceVectorBase_paren";
-  case 569: return "SpatialForceVectorBase_getVal";
-  case 570: return "SpatialForceVectorBase_setVal";
-  case 571: return "SpatialForceVectorBase_size";
-  case 572: return "SpatialForceVectorBase_zero";
-  case 573: return "SpatialForceVectorBase_changePoint";
-  case 574: return "SpatialForceVectorBase_changeCoordFrame";
-  case 575: return "SpatialForceVectorBase_compose";
-  case 576: return "SpatialForceVectorBase_inverse";
-  case 577: return "SpatialForceVectorBase_dot";
-  case 578: return "SpatialForceVectorBase_plus";
-  case 579: return "SpatialForceVectorBase_minus";
-  case 580: return "SpatialForceVectorBase_uminus";
-  case 581: return "SpatialForceVectorBase_Zero";
-  case 582: return "SpatialForceVectorBase_asVector";
-  case 583: return "SpatialForceVectorBase_toString";
-  case 584: return "SpatialForceVectorBase_display";
-  case 585: return "SpatialForceVectorBase_toMatlab";
-  case 586: return "SpatialForceVectorBase_fromMatlab";
-  case 587: return "delete_SpatialForceVectorBase";
-  case 588: return "new_Dummy";
-  case 589: return "delete_Dummy";
-  case 590: return "new_SpatialMotionVector";
-  case 591: return "SpatialMotionVector_mtimes";
-  case 592: return "SpatialMotionVector_cross";
-  case 593: return "SpatialMotionVector_asCrossProductMatrix";
-  case 594: return "SpatialMotionVector_asCrossProductMatrixWrench";
-  case 595: return "SpatialMotionVector_exp";
-  case 596: return "delete_SpatialMotionVector";
-  case 597: return "new_SpatialForceVector";
-  case 598: return "delete_SpatialForceVector";
-  case 599: return "SpatialForceVector_mtimes";
-  case 600: return "new_Twist";
-  case 601: return "Twist_plus";
-  case 602: return "Twist_minus";
-  case 603: return "Twist_uminus";
-  case 604: return "Twist_mtimes";
-  case 605: return "delete_Twist";
-  case 606: return "new_Wrench";
-  case 607: return "Wrench_plus";
-  case 608: return "Wrench_minus";
-  case 609: return "Wrench_uminus";
-  case 610: return "delete_Wrench";
-  case 611: return "new_SpatialMomentum";
-  case 612: return "SpatialMomentum_plus";
-  case 613: return "SpatialMomentum_minus";
-  case 614: return "SpatialMomentum_uminus";
-  case 615: return "delete_SpatialMomentum";
-  case 616: return "new_SpatialAcc";
-  case 617: return "SpatialAcc_plus";
-  case 618: return "SpatialAcc_minus";
-  case 619: return "SpatialAcc_uminus";
-  case 620: return "delete_SpatialAcc";
-  case 621: return "new_ClassicalAcc";
-  case 622: return "ClassicalAcc_changeCoordFrame";
-  case 623: return "ClassicalAcc_Zero";
-  case 624: return "ClassicalAcc_fromSpatial";
-  case 625: return "ClassicalAcc_toSpatial";
-  case 626: return "delete_ClassicalAcc";
-  case 627: return "new_Direction";
-  case 628: return "Direction_Normalize";
-  case 629: return "Direction_isParallel";
-  case 630: return "Direction_isPerpendicular";
-  case 631: return "Direction_reverse";
-  case 632: return "Direction_toString";
-  case 633: return "Direction_display";
-  case 634: return "Direction_Default";
-  case 635: return "delete_Direction";
-  case 636: return "new_Axis";
-  case 637: return "Axis_getDirection";
-  case 638: return "Axis_getOrigin";
-  case 639: return "Axis_setDirection";
-  case 640: return "Axis_setOrigin";
-  case 641: return "Axis_getRotationTransform";
-  case 642: return "Axis_getRotationTransformDerivative";
-  case 643: return "Axis_getRotationTwist";
-  case 644: return "Axis_getRotationSpatialAcc";
-  case 645: return "Axis_getTranslationTransform";
-  case 646: return "Axis_getTranslationTransformDerivative";
-  case 647: return "Axis_getTranslationTwist";
-  case 648: return "Axis_getTranslationSpatialAcc";
-  case 649: return "Axis_isParallel";
-  case 650: return "Axis_reverse";
-  case 651: return "Axis_toString";
-  case 652: return "Axis_display";
-  case 653: return "delete_Axis";
-  case 654: return "new_RotationalInertiaRaw";
-  case 655: return "RotationalInertiaRaw_Zero";
-  case 656: return "delete_RotationalInertiaRaw";
-  case 657: return "new_SpatialInertiaRaw";
-  case 658: return "SpatialInertiaRaw_fromRotationalInertiaWrtCenterOfMass";
-  case 659: return "SpatialInertiaRaw_getMass";
-  case 660: return "SpatialInertiaRaw_getCenterOfMass";
-  case 661: return "SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin";
-  case 662: return "SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass";
-  case 663: return "SpatialInertiaRaw_combine";
-  case 664: return "SpatialInertiaRaw_multiply";
-  case 665: return "SpatialInertiaRaw_zero";
-  case 666: return "delete_SpatialInertiaRaw";
-  case 667: return "new_SpatialInertia";
-  case 668: return "SpatialInertia_combine";
-  case 669: return "SpatialInertia_asMatrix";
-  case 670: return "SpatialInertia_applyInverse";
-  case 671: return "SpatialInertia_getInverse";
-  case 672: return "SpatialInertia_plus";
-  case 673: return "SpatialInertia_mtimes";
-  case 674: return "SpatialInertia_biasWrench";
-  case 675: return "SpatialInertia_biasWrenchDerivative";
-  case 676: return "SpatialInertia_Zero";
-  case 677: return "SpatialInertia_asVector";
-  case 678: return "SpatialInertia_fromVector";
-  case 679: return "SpatialInertia_isPhysicallyConsistent";
-  case 680: return "SpatialInertia_momentumRegressor";
-  case 681: return "SpatialInertia_momentumDerivativeRegressor";
-  case 682: return "SpatialInertia_momentumDerivativeSlotineLiRegressor";
-  case 683: return "delete_SpatialInertia";
-  case 684: return "new_ArticulatedBodyInertia";
-  case 685: return "ArticulatedBodyInertia_getLinearLinearSubmatrix";
-  case 686: return "ArticulatedBodyInertia_getLinearAngularSubmatrix";
-  case 687: return "ArticulatedBodyInertia_getAngularAngularSubmatrix";
-  case 688: return "ArticulatedBodyInertia_combine";
-  case 689: return "ArticulatedBodyInertia_applyInverse";
-  case 690: return "ArticulatedBodyInertia_asMatrix";
-  case 691: return "ArticulatedBodyInertia_getInverse";
-  case 692: return "ArticulatedBodyInertia_plus";
-  case 693: return "ArticulatedBodyInertia_minus";
-  case 694: return "ArticulatedBodyInertia_mtimes";
-  case 695: return "ArticulatedBodyInertia_zero";
-  case 696: return "ArticulatedBodyInertia_ABADyadHelper";
-  case 697: return "ArticulatedBodyInertia_ABADyadHelperLin";
-  case 698: return "delete_ArticulatedBodyInertia";
-  case 699: return "RigidBodyInertiaNonLinearParametrization_mass_get";
-  case 700: return "RigidBodyInertiaNonLinearParametrization_mass_set";
-  case 701: return "RigidBodyInertiaNonLinearParametrization_com_get";
-  case 702: return "RigidBodyInertiaNonLinearParametrization_com_set";
-  case 703: return "RigidBodyInertiaNonLinearParametrization_link_R_centroidal_get";
-  case 704: return "RigidBodyInertiaNonLinearParametrization_link_R_centroidal_set";
-  case 705: return "RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_get";
-  case 706: return "RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_set";
-  case 707: return "RigidBodyInertiaNonLinearParametrization_getLinkCentroidalTransform";
-  case 708: return "RigidBodyInertiaNonLinearParametrization_fromRigidBodyInertia";
-  case 709: return "RigidBodyInertiaNonLinearParametrization_fromInertialParameters";
-  case 710: return "RigidBodyInertiaNonLinearParametrization_toRigidBodyInertia";
-  case 711: return "RigidBodyInertiaNonLinearParametrization_isPhysicallyConsistent";
-  case 712: return "RigidBodyInertiaNonLinearParametrization_asVectorWithRotationAsVec";
-  case 713: return "RigidBodyInertiaNonLinearParametrization_fromVectorWithRotationAsVec";
-  case 714: return "RigidBodyInertiaNonLinearParametrization_getGradientWithRotationAsVec";
-  case 715: return "new_RigidBodyInertiaNonLinearParametrization";
-  case 716: return "delete_RigidBodyInertiaNonLinearParametrization";
-  case 717: return "new_RotationRaw";
-  case 718: return "RotationRaw_changeOrientFrame";
-  case 719: return "RotationRaw_changeRefOrientFrame";
-  case 720: return "RotationRaw_compose";
-  case 721: return "RotationRaw_inverse2";
-  case 722: return "RotationRaw_changeCoordFrameOf";
-  case 723: return "RotationRaw_RotX";
-  case 724: return "RotationRaw_RotY";
-  case 725: return "RotationRaw_RotZ";
-  case 726: return "RotationRaw_RPY";
-  case 727: return "RotationRaw_Identity";
-  case 728: return "RotationRaw_toString";
-  case 729: return "RotationRaw_display";
-  case 730: return "delete_RotationRaw";
-  case 731: return "new_RotationSemantics";
-  case 732: return "RotationSemantics_setToUnknown";
-  case 733: return "RotationSemantics_getOrientationFrame";
-  case 734: return "RotationSemantics_getBody";
-  case 735: return "RotationSemantics_getReferenceOrientationFrame";
-  case 736: return "RotationSemantics_getRefBody";
-  case 737: return "RotationSemantics_getCoordinateFrame";
-  case 738: return "RotationSemantics_setOrientationFrame";
-  case 739: return "RotationSemantics_setBody";
-  case 740: return "RotationSemantics_setReferenceOrientationFrame";
-  case 741: return "RotationSemantics_setRefBody";
-  case 742: return "RotationSemantics_setCoordinateFrame";
-  case 743: return "RotationSemantics_changeOrientFrame";
-  case 744: return "RotationSemantics_changeRefOrientFrame";
-  case 745: return "RotationSemantics_changeCoordFrameOf";
-  case 746: return "RotationSemantics_compose";
-  case 747: return "RotationSemantics_inverse2";
-  case 748: return "RotationSemantics_toString";
-  case 749: return "RotationSemantics_display";
-  case 750: return "delete_RotationSemantics";
-  case 751: return "new_Rotation";
-  case 752: return "Rotation_getSemantics";
-  case 753: return "Rotation_changeOrientFrame";
-  case 754: return "Rotation_changeRefOrientFrame";
-  case 755: return "Rotation_changeCoordinateFrame";
-  case 756: return "Rotation_compose";
-  case 757: return "Rotation_inverse2";
-  case 758: return "Rotation_changeCoordFrameOf";
-  case 759: return "Rotation_inverse";
-  case 760: return "Rotation_mtimes";
-  case 761: return "Rotation_log";
-  case 762: return "Rotation_fromQuaternion";
-  case 763: return "Rotation_getRPY";
-  case 764: return "Rotation_asRPY";
-  case 765: return "Rotation_getQuaternion";
-  case 766: return "Rotation_asQuaternion";
-  case 767: return "Rotation_RotX";
-  case 768: return "Rotation_RotY";
-  case 769: return "Rotation_RotZ";
-  case 770: return "Rotation_RotAxis";
-  case 771: return "Rotation_RotAxisDerivative";
-  case 772: return "Rotation_RPY";
-  case 773: return "Rotation_RPYRightTrivializedDerivative";
-  case 774: return "Rotation_RPYRightTrivializedDerivativeRateOfChange";
-  case 775: return "Rotation_RPYRightTrivializedDerivativeInverse";
-  case 776: return "Rotation_RPYRightTrivializedDerivativeInverseRateOfChange";
-  case 777: return "Rotation_QuaternionRightTrivializedDerivative";
-  case 778: return "Rotation_QuaternionRightTrivializedDerivativeInverse";
-  case 779: return "Rotation_Identity";
-  case 780: return "Rotation_RotationFromQuaternion";
-  case 781: return "Rotation_leftJacobian";
-  case 782: return "Rotation_leftJacobianInverse";
-  case 783: return "Rotation_toString";
-  case 784: return "Rotation_display";
-  case 785: return "delete_Rotation";
-  case 786: return "new_TransformSemantics";
-  case 787: return "TransformSemantics_getRotationSemantics";
-  case 788: return "TransformSemantics_getPositionSemantics";
-  case 789: return "TransformSemantics_setRotationSemantics";
-  case 790: return "TransformSemantics_setPositionSemantics";
-  case 791: return "TransformSemantics_toString";
-  case 792: return "TransformSemantics_display";
-  case 793: return "delete_TransformSemantics";
-  case 794: return "new_Transform";
-  case 795: return "Transform_fromHomogeneousTransform";
-  case 796: return "Transform_getSemantics";
-  case 797: return "Transform_getRotation";
-  case 798: return "Transform_getPosition";
-  case 799: return "Transform_setRotation";
-  case 800: return "Transform_setPosition";
-  case 801: return "Transform_compose";
-  case 802: return "Transform_inverse2";
-  case 803: return "Transform_inverse";
-  case 804: return "Transform_mtimes";
-  case 805: return "Transform_Identity";
-  case 806: return "Transform_asHomogeneousTransform";
-  case 807: return "Transform_asAdjointTransform";
-  case 808: return "Transform_asAdjointTransformWrench";
-  case 809: return "Transform_log";
-  case 810: return "Transform_toString";
-  case 811: return "Transform_display";
-  case 812: return "delete_Transform";
-  case 813: return "new_TransformDerivative";
-  case 814: return "delete_TransformDerivative";
-  case 815: return "TransformDerivative_getRotationDerivative";
-  case 816: return "TransformDerivative_getPositionDerivative";
-  case 817: return "TransformDerivative_setRotationDerivative";
-  case 818: return "TransformDerivative_setPositionDerivative";
-  case 819: return "TransformDerivative_Zero";
-  case 820: return "TransformDerivative_asHomogeneousTransformDerivative";
-  case 821: return "TransformDerivative_asAdjointTransformDerivative";
-  case 822: return "TransformDerivative_asAdjointTransformWrenchDerivative";
-  case 823: return "TransformDerivative_mtimes";
-  case 824: return "TransformDerivative_derivativeOfInverse";
-  case 825: return "TransformDerivative_transform";
-  case 826: return "dynamic_extent_get";
-  case 827: return "DynamicSpan_extent_get";
-  case 828: return "new_DynamicSpan";
-  case 829: return "delete_DynamicSpan";
-  case 830: return "DynamicSpan_first";
-  case 831: return "DynamicSpan_last";
-  case 832: return "DynamicSpan_subspan";
-  case 833: return "DynamicSpan_size";
-  case 834: return "DynamicSpan_size_bytes";
-  case 835: return "DynamicSpan_empty";
-  case 836: return "DynamicSpan_brace";
-  case 837: return "DynamicSpan_getVal";
-  case 838: return "DynamicSpan_setVal";
-  case 839: return "DynamicSpan_at";
-  case 840: return "DynamicSpan_paren";
-  case 841: return "DynamicSpan_begin";
-  case 842: return "DynamicSpan_end";
-  case 843: return "DynamicSpan_cbegin";
-  case 844: return "DynamicSpan_cend";
-  case 845: return "DynamicSpan_rbegin";
-  case 846: return "DynamicSpan_rend";
-  case 847: return "DynamicSpan_crbegin";
-  case 848: return "DynamicSpan_crend";
-  case 849: return "LINK_INVALID_INDEX_get";
-  case 850: return "LINK_INVALID_INDEX_set";
-  case 851: return "LINK_INVALID_NAME_get";
-  case 852: return "LINK_INVALID_NAME_set";
-  case 853: return "JOINT_INVALID_INDEX_get";
-  case 854: return "JOINT_INVALID_INDEX_set";
-  case 855: return "JOINT_INVALID_NAME_get";
-  case 856: return "JOINT_INVALID_NAME_set";
-  case 857: return "DOF_INVALID_INDEX_get";
-  case 858: return "DOF_INVALID_INDEX_set";
-  case 859: return "DOF_INVALID_NAME_get";
-  case 860: return "DOF_INVALID_NAME_set";
-  case 861: return "FRAME_INVALID_INDEX_get";
-  case 862: return "FRAME_INVALID_INDEX_set";
-  case 863: return "FRAME_INVALID_NAME_get";
-  case 864: return "FRAME_INVALID_NAME_set";
-  case 865: return "TRAVERSAL_INVALID_INDEX_get";
-  case 866: return "TRAVERSAL_INVALID_INDEX_set";
-  case 867: return "new_LinkPositions";
-  case 868: return "LinkPositions_resize";
-  case 869: return "LinkPositions_isConsistent";
-  case 870: return "LinkPositions_getNrOfLinks";
-  case 871: return "LinkPositions_paren";
-  case 872: return "LinkPositions_toString";
-  case 873: return "delete_LinkPositions";
-  case 874: return "new_LinkWrenches";
-  case 875: return "LinkWrenches_resize";
-  case 876: return "LinkWrenches_isConsistent";
-  case 877: return "LinkWrenches_getNrOfLinks";
-  case 878: return "LinkWrenches_paren";
-  case 879: return "LinkWrenches_toString";
-  case 880: return "LinkWrenches_zero";
-  case 881: return "delete_LinkWrenches";
-  case 882: return "new_LinkInertias";
-  case 883: return "LinkInertias_resize";
-  case 884: return "LinkInertias_isConsistent";
-  case 885: return "LinkInertias_paren";
-  case 886: return "delete_LinkInertias";
-  case 887: return "new_LinkArticulatedBodyInertias";
-  case 888: return "LinkArticulatedBodyInertias_resize";
-  case 889: return "LinkArticulatedBodyInertias_isConsistent";
-  case 890: return "LinkArticulatedBodyInertias_paren";
-  case 891: return "delete_LinkArticulatedBodyInertias";
-  case 892: return "new_LinkVelArray";
-  case 893: return "LinkVelArray_resize";
-  case 894: return "LinkVelArray_isConsistent";
-  case 895: return "LinkVelArray_getNrOfLinks";
-  case 896: return "LinkVelArray_paren";
-  case 897: return "LinkVelArray_toString";
-  case 898: return "delete_LinkVelArray";
-  case 899: return "new_LinkAccArray";
-  case 900: return "LinkAccArray_resize";
-  case 901: return "LinkAccArray_isConsistent";
-  case 902: return "LinkAccArray_paren";
-  case 903: return "LinkAccArray_getNrOfLinks";
-  case 904: return "LinkAccArray_toString";
-  case 905: return "delete_LinkAccArray";
-  case 906: return "new_Link";
-  case 907: return "Link_inertia";
-  case 908: return "Link_setInertia";
-  case 909: return "Link_getInertia";
-  case 910: return "Link_setIndex";
-  case 911: return "Link_getIndex";
-  case 912: return "delete_Link";
-  case 913: return "delete_IJoint";
-  case 914: return "IJoint_clone";
-  case 915: return "IJoint_getNrOfPosCoords";
-  case 916: return "IJoint_getNrOfDOFs";
-  case 917: return "IJoint_setAttachedLinks";
-  case 918: return "IJoint_setRestTransform";
-  case 919: return "IJoint_getFirstAttachedLink";
-  case 920: return "IJoint_getSecondAttachedLink";
-  case 921: return "IJoint_getRestTransform";
-  case 922: return "IJoint_getTransform";
-  case 923: return "IJoint_getTransformDerivative";
-  case 924: return "IJoint_getMotionSubspaceVector";
-  case 925: return "IJoint_computeChildPosVelAcc";
-  case 926: return "IJoint_computeChildVelAcc";
-  case 927: return "IJoint_computeChildVel";
-  case 928: return "IJoint_computeChildAcc";
-  case 929: return "IJoint_computeChildBiasAcc";
-  case 930: return "IJoint_computeJointTorque";
-  case 931: return "IJoint_setIndex";
-  case 932: return "IJoint_getIndex";
-  case 933: return "IJoint_setPosCoordsOffset";
-  case 934: return "IJoint_getPosCoordsOffset";
-  case 935: return "IJoint_setDOFsOffset";
-  case 936: return "IJoint_getDOFsOffset";
-  case 937: return "IJoint_hasPosLimits";
-  case 938: return "IJoint_enablePosLimits";
-  case 939: return "IJoint_getPosLimits";
-  case 940: return "IJoint_getMinPosLimit";
-  case 941: return "IJoint_getMaxPosLimit";
-  case 942: return "IJoint_setPosLimits";
-  case 943: return "IJoint_isRevoluteJoint";
-  case 944: return "IJoint_isFixedJoint";
-  case 945: return "IJoint_asRevoluteJoint";
-  case 946: return "IJoint_asFixedJoint";
-  case 947: return "new_FixedJoint";
-  case 948: return "delete_FixedJoint";
-  case 949: return "FixedJoint_clone";
-  case 950: return "FixedJoint_getNrOfPosCoords";
-  case 951: return "FixedJoint_getNrOfDOFs";
-  case 952: return "FixedJoint_setAttachedLinks";
-  case 953: return "FixedJoint_setRestTransform";
-  case 954: return "FixedJoint_getFirstAttachedLink";
-  case 955: return "FixedJoint_getSecondAttachedLink";
-  case 956: return "FixedJoint_getRestTransform";
-  case 957: return "FixedJoint_getTransform";
-  case 958: return "FixedJoint_getTransformDerivative";
-  case 959: return "FixedJoint_getMotionSubspaceVector";
-  case 960: return "FixedJoint_computeChildPosVelAcc";
-  case 961: return "FixedJoint_computeChildVelAcc";
-  case 962: return "FixedJoint_computeChildVel";
-  case 963: return "FixedJoint_computeChildAcc";
-  case 964: return "FixedJoint_computeChildBiasAcc";
-  case 965: return "FixedJoint_computeJointTorque";
-  case 966: return "FixedJoint_setIndex";
-  case 967: return "FixedJoint_getIndex";
-  case 968: return "FixedJoint_setPosCoordsOffset";
-  case 969: return "FixedJoint_getPosCoordsOffset";
-  case 970: return "FixedJoint_setDOFsOffset";
-  case 971: return "FixedJoint_getDOFsOffset";
-  case 972: return "FixedJoint_hasPosLimits";
-  case 973: return "FixedJoint_enablePosLimits";
-  case 974: return "FixedJoint_getPosLimits";
-  case 975: return "FixedJoint_getMinPosLimit";
-  case 976: return "FixedJoint_getMaxPosLimit";
-  case 977: return "FixedJoint_setPosLimits";
-  case 978: return "delete_MovableJointImpl1";
-  case 979: return "MovableJointImpl1_getNrOfPosCoords";
-  case 980: return "MovableJointImpl1_getNrOfDOFs";
-  case 981: return "MovableJointImpl1_setIndex";
-  case 982: return "MovableJointImpl1_getIndex";
-  case 983: return "MovableJointImpl1_setPosCoordsOffset";
-  case 984: return "MovableJointImpl1_getPosCoordsOffset";
-  case 985: return "MovableJointImpl1_setDOFsOffset";
-  case 986: return "MovableJointImpl1_getDOFsOffset";
-  case 987: return "delete_MovableJointImpl2";
-  case 988: return "MovableJointImpl2_getNrOfPosCoords";
-  case 989: return "MovableJointImpl2_getNrOfDOFs";
-  case 990: return "MovableJointImpl2_setIndex";
-  case 991: return "MovableJointImpl2_getIndex";
-  case 992: return "MovableJointImpl2_setPosCoordsOffset";
-  case 993: return "MovableJointImpl2_getPosCoordsOffset";
-  case 994: return "MovableJointImpl2_setDOFsOffset";
-  case 995: return "MovableJointImpl2_getDOFsOffset";
-  case 996: return "delete_MovableJointImpl3";
-  case 997: return "MovableJointImpl3_getNrOfPosCoords";
-  case 998: return "MovableJointImpl3_getNrOfDOFs";
-  case 999: return "MovableJointImpl3_setIndex";
-  case 1000: return "MovableJointImpl3_getIndex";
-  case 1001: return "MovableJointImpl3_setPosCoordsOffset";
-  case 1002: return "MovableJointImpl3_getPosCoordsOffset";
-  case 1003: return "MovableJointImpl3_setDOFsOffset";
-  case 1004: return "MovableJointImpl3_getDOFsOffset";
-  case 1005: return "delete_MovableJointImpl4";
-  case 1006: return "MovableJointImpl4_getNrOfPosCoords";
-  case 1007: return "MovableJointImpl4_getNrOfDOFs";
-  case 1008: return "MovableJointImpl4_setIndex";
-  case 1009: return "MovableJointImpl4_getIndex";
-  case 1010: return "MovableJointImpl4_setPosCoordsOffset";
-  case 1011: return "MovableJointImpl4_getPosCoordsOffset";
-  case 1012: return "MovableJointImpl4_setDOFsOffset";
-  case 1013: return "MovableJointImpl4_getDOFsOffset";
-  case 1014: return "delete_MovableJointImpl5";
-  case 1015: return "MovableJointImpl5_getNrOfPosCoords";
-  case 1016: return "MovableJointImpl5_getNrOfDOFs";
-  case 1017: return "MovableJointImpl5_setIndex";
-  case 1018: return "MovableJointImpl5_getIndex";
-  case 1019: return "MovableJointImpl5_setPosCoordsOffset";
-  case 1020: return "MovableJointImpl5_getPosCoordsOffset";
-  case 1021: return "MovableJointImpl5_setDOFsOffset";
-  case 1022: return "MovableJointImpl5_getDOFsOffset";
-  case 1023: return "delete_MovableJointImpl6";
-  case 1024: return "MovableJointImpl6_getNrOfPosCoords";
-  case 1025: return "MovableJointImpl6_getNrOfDOFs";
-  case 1026: return "MovableJointImpl6_setIndex";
-  case 1027: return "MovableJointImpl6_getIndex";
-  case 1028: return "MovableJointImpl6_setPosCoordsOffset";
-  case 1029: return "MovableJointImpl6_getPosCoordsOffset";
-  case 1030: return "MovableJointImpl6_setDOFsOffset";
-  case 1031: return "MovableJointImpl6_getDOFsOffset";
-  case 1032: return "new_RevoluteJoint";
-  case 1033: return "delete_RevoluteJoint";
-  case 1034: return "RevoluteJoint_clone";
-  case 1035: return "RevoluteJoint_setAttachedLinks";
-  case 1036: return "RevoluteJoint_setRestTransform";
-  case 1037: return "RevoluteJoint_setAxis";
-  case 1038: return "RevoluteJoint_getFirstAttachedLink";
-  case 1039: return "RevoluteJoint_getSecondAttachedLink";
-  case 1040: return "RevoluteJoint_getAxis";
-  case 1041: return "RevoluteJoint_getRestTransform";
-  case 1042: return "RevoluteJoint_getTransform";
-  case 1043: return "RevoluteJoint_getTransformDerivative";
-  case 1044: return "RevoluteJoint_getMotionSubspaceVector";
-  case 1045: return "RevoluteJoint_computeChildPosVelAcc";
-  case 1046: return "RevoluteJoint_computeChildVel";
-  case 1047: return "RevoluteJoint_computeChildVelAcc";
-  case 1048: return "RevoluteJoint_computeChildAcc";
-  case 1049: return "RevoluteJoint_computeChildBiasAcc";
-  case 1050: return "RevoluteJoint_computeJointTorque";
-  case 1051: return "RevoluteJoint_hasPosLimits";
-  case 1052: return "RevoluteJoint_enablePosLimits";
-  case 1053: return "RevoluteJoint_getPosLimits";
-  case 1054: return "RevoluteJoint_getMinPosLimit";
-  case 1055: return "RevoluteJoint_getMaxPosLimit";
-  case 1056: return "RevoluteJoint_setPosLimits";
-  case 1057: return "new_PrismaticJoint";
-  case 1058: return "delete_PrismaticJoint";
-  case 1059: return "PrismaticJoint_clone";
-  case 1060: return "PrismaticJoint_setAttachedLinks";
-  case 1061: return "PrismaticJoint_setRestTransform";
-  case 1062: return "PrismaticJoint_setAxis";
-  case 1063: return "PrismaticJoint_getFirstAttachedLink";
-  case 1064: return "PrismaticJoint_getSecondAttachedLink";
-  case 1065: return "PrismaticJoint_getAxis";
-  case 1066: return "PrismaticJoint_getRestTransform";
-  case 1067: return "PrismaticJoint_getTransform";
-  case 1068: return "PrismaticJoint_getTransformDerivative";
-  case 1069: return "PrismaticJoint_getMotionSubspaceVector";
-  case 1070: return "PrismaticJoint_computeChildPosVelAcc";
-  case 1071: return "PrismaticJoint_computeChildVel";
-  case 1072: return "PrismaticJoint_computeChildVelAcc";
-  case 1073: return "PrismaticJoint_computeChildAcc";
-  case 1074: return "PrismaticJoint_computeChildBiasAcc";
-  case 1075: return "PrismaticJoint_computeJointTorque";
-  case 1076: return "PrismaticJoint_hasPosLimits";
-  case 1077: return "PrismaticJoint_enablePosLimits";
-  case 1078: return "PrismaticJoint_getPosLimits";
-  case 1079: return "PrismaticJoint_getMinPosLimit";
-  case 1080: return "PrismaticJoint_getMaxPosLimit";
-  case 1081: return "PrismaticJoint_setPosLimits";
-  case 1082: return "new_Traversal";
-  case 1083: return "delete_Traversal";
-  case 1084: return "Traversal_getNrOfVisitedLinks";
-  case 1085: return "Traversal_getLink";
-  case 1086: return "Traversal_getBaseLink";
-  case 1087: return "Traversal_getParentLink";
-  case 1088: return "Traversal_getParentJoint";
-  case 1089: return "Traversal_getParentLinkFromLinkIndex";
-  case 1090: return "Traversal_getParentJointFromLinkIndex";
-  case 1091: return "Traversal_getTraversalIndexFromLinkIndex";
-  case 1092: return "Traversal_reset";
-  case 1093: return "Traversal_addTraversalBase";
-  case 1094: return "Traversal_addTraversalElement";
-  case 1095: return "Traversal_isParentOf";
-  case 1096: return "Traversal_getChildLinkIndexFromJointIndex";
-  case 1097: return "Traversal_getParentLinkIndexFromJointIndex";
-  case 1098: return "Traversal_toString";
-  case 1099: return "delete_SolidShape";
-  case 1100: return "SolidShape_clone";
-  case 1101: return "SolidShape_name_get";
-  case 1102: return "SolidShape_name_set";
-  case 1103: return "SolidShape_nameIsValid_get";
-  case 1104: return "SolidShape_nameIsValid_set";
-  case 1105: return "SolidShape_link_H_geometry_get";
-  case 1106: return "SolidShape_link_H_geometry_set";
-  case 1107: return "SolidShape_material_get";
-  case 1108: return "SolidShape_material_set";
-  case 1109: return "SolidShape_isSphere";
-  case 1110: return "SolidShape_isBox";
-  case 1111: return "SolidShape_isCylinder";
-  case 1112: return "SolidShape_isExternalMesh";
-  case 1113: return "SolidShape_asSphere";
-  case 1114: return "SolidShape_asBox";
-  case 1115: return "SolidShape_asCylinder";
-  case 1116: return "SolidShape_asExternalMesh";
-  case 1117: return "delete_Sphere";
-  case 1118: return "Sphere_clone";
-  case 1119: return "Sphere_radius_get";
-  case 1120: return "Sphere_radius_set";
-  case 1121: return "new_Sphere";
-  case 1122: return "delete_Box";
-  case 1123: return "Box_clone";
-  case 1124: return "Box_x_get";
-  case 1125: return "Box_x_set";
-  case 1126: return "Box_y_get";
-  case 1127: return "Box_y_set";
-  case 1128: return "Box_z_get";
-  case 1129: return "Box_z_set";
-  case 1130: return "new_Box";
-  case 1131: return "delete_Cylinder";
-  case 1132: return "Cylinder_clone";
-  case 1133: return "Cylinder_length_get";
-  case 1134: return "Cylinder_length_set";
-  case 1135: return "Cylinder_radius_get";
-  case 1136: return "Cylinder_radius_set";
-  case 1137: return "new_Cylinder";
-  case 1138: return "delete_ExternalMesh";
-  case 1139: return "ExternalMesh_clone";
-  case 1140: return "ExternalMesh_filename_get";
-  case 1141: return "ExternalMesh_filename_set";
-  case 1142: return "ExternalMesh_scale_get";
-  case 1143: return "ExternalMesh_scale_set";
-  case 1144: return "new_ExternalMesh";
-  case 1145: return "new_ModelSolidShapes";
-  case 1146: return "ModelSolidShapes_clear";
-  case 1147: return "delete_ModelSolidShapes";
-  case 1148: return "ModelSolidShapes_resize";
-  case 1149: return "ModelSolidShapes_isConsistent";
-  case 1150: return "ModelSolidShapes_linkSolidShapes_get";
-  case 1151: return "ModelSolidShapes_linkSolidShapes_set";
-  case 1152: return "Neighbor_neighborLink_get";
-  case 1153: return "Neighbor_neighborLink_set";
-  case 1154: return "Neighbor_neighborJoint_get";
-  case 1155: return "Neighbor_neighborJoint_set";
-  case 1156: return "new_Neighbor";
-  case 1157: return "delete_Neighbor";
-  case 1158: return "new_Model";
-  case 1159: return "Model_copy";
-  case 1160: return "delete_Model";
-  case 1161: return "Model_getNrOfLinks";
-  case 1162: return "Model_getLinkName";
-  case 1163: return "Model_getLinkIndex";
-  case 1164: return "Model_isValidLinkIndex";
-  case 1165: return "Model_getLink";
-  case 1166: return "Model_addLink";
-  case 1167: return "Model_getNrOfJoints";
-  case 1168: return "Model_getJointName";
-  case 1169: return "Model_getTotalMass";
-  case 1170: return "Model_getJointIndex";
-  case 1171: return "Model_getJoint";
-  case 1172: return "Model_isValidJointIndex";
-  case 1173: return "Model_isLinkNameUsed";
-  case 1174: return "Model_isJointNameUsed";
-  case 1175: return "Model_isFrameNameUsed";
-  case 1176: return "Model_addJoint";
-  case 1177: return "Model_addJointAndLink";
-  case 1178: return "Model_insertLinkToExistingJointAndAddJointForDisplacedLink";
-  case 1179: return "Model_getNrOfPosCoords";
-  case 1180: return "Model_getNrOfDOFs";
-  case 1181: return "Model_getNrOfFrames";
-  case 1182: return "Model_addAdditionalFrameToLink";
-  case 1183: return "Model_getFrameName";
-  case 1184: return "Model_getFrameIndex";
-  case 1185: return "Model_isValidFrameIndex";
-  case 1186: return "Model_getFrameTransform";
-  case 1187: return "Model_getFrameLink";
-  case 1188: return "Model_getLinkAdditionalFrames";
-  case 1189: return "Model_getNrOfNeighbors";
-  case 1190: return "Model_getNeighbor";
-  case 1191: return "Model_setDefaultBaseLink";
-  case 1192: return "Model_getDefaultBaseLink";
-  case 1193: return "Model_computeFullTreeTraversal";
-  case 1194: return "Model_getInertialParameters";
-  case 1195: return "Model_updateInertialParameters";
-  case 1196: return "Model_visualSolidShapes";
-  case 1197: return "Model_collisionSolidShapes";
-  case 1198: return "Model_toString";
-  case 1199: return "new_JointPosDoubleArray";
-  case 1200: return "JointPosDoubleArray_resize";
-  case 1201: return "JointPosDoubleArray_isConsistent";
-  case 1202: return "delete_JointPosDoubleArray";
-  case 1203: return "new_JointDOFsDoubleArray";
-  case 1204: return "JointDOFsDoubleArray_resize";
-  case 1205: return "JointDOFsDoubleArray_isConsistent";
-  case 1206: return "delete_JointDOFsDoubleArray";
-  case 1207: return "new_DOFSpatialForceArray";
-  case 1208: return "DOFSpatialForceArray_resize";
-  case 1209: return "DOFSpatialForceArray_isConsistent";
-  case 1210: return "DOFSpatialForceArray_paren";
-  case 1211: return "delete_DOFSpatialForceArray";
-  case 1212: return "new_DOFSpatialMotionArray";
-  case 1213: return "DOFSpatialMotionArray_resize";
-  case 1214: return "DOFSpatialMotionArray_isConsistent";
-  case 1215: return "DOFSpatialMotionArray_paren";
-  case 1216: return "delete_DOFSpatialMotionArray";
-  case 1217: return "new_FrameFreeFloatingJacobian";
-  case 1218: return "FrameFreeFloatingJacobian_resize";
-  case 1219: return "FrameFreeFloatingJacobian_isConsistent";
-  case 1220: return "delete_FrameFreeFloatingJacobian";
-  case 1221: return "new_MomentumFreeFloatingJacobian";
-  case 1222: return "MomentumFreeFloatingJacobian_resize";
-  case 1223: return "MomentumFreeFloatingJacobian_isConsistent";
-  case 1224: return "delete_MomentumFreeFloatingJacobian";
-  case 1225: return "new_FreeFloatingMassMatrix";
-  case 1226: return "FreeFloatingMassMatrix_resize";
-  case 1227: return "delete_FreeFloatingMassMatrix";
-  case 1228: return "new_FreeFloatingPos";
-  case 1229: return "FreeFloatingPos_resize";
-  case 1230: return "FreeFloatingPos_worldBasePos";
-  case 1231: return "FreeFloatingPos_jointPos";
-  case 1232: return "FreeFloatingPos_getNrOfPosCoords";
-  case 1233: return "delete_FreeFloatingPos";
-  case 1234: return "new_FreeFloatingGeneralizedTorques";
-  case 1235: return "FreeFloatingGeneralizedTorques_resize";
-  case 1236: return "FreeFloatingGeneralizedTorques_baseWrench";
-  case 1237: return "FreeFloatingGeneralizedTorques_jointTorques";
-  case 1238: return "FreeFloatingGeneralizedTorques_getNrOfDOFs";
-  case 1239: return "delete_FreeFloatingGeneralizedTorques";
-  case 1240: return "new_FreeFloatingVel";
-  case 1241: return "FreeFloatingVel_resize";
-  case 1242: return "FreeFloatingVel_baseVel";
-  case 1243: return "FreeFloatingVel_jointVel";
-  case 1244: return "FreeFloatingVel_getNrOfDOFs";
-  case 1245: return "delete_FreeFloatingVel";
-  case 1246: return "new_FreeFloatingAcc";
-  case 1247: return "FreeFloatingAcc_resize";
-  case 1248: return "FreeFloatingAcc_baseAcc";
-  case 1249: return "FreeFloatingAcc_jointAcc";
-  case 1250: return "FreeFloatingAcc_getNrOfDOFs";
-  case 1251: return "delete_FreeFloatingAcc";
-  case 1252: return "ContactWrench_contactId";
-  case 1253: return "ContactWrench_contactPoint";
-  case 1254: return "ContactWrench_contactWrench";
-  case 1255: return "new_ContactWrench";
-  case 1256: return "delete_ContactWrench";
-  case 1257: return "new_LinkContactWrenches";
-  case 1258: return "LinkContactWrenches_resize";
-  case 1259: return "LinkContactWrenches_getNrOfContactsForLink";
-  case 1260: return "LinkContactWrenches_setNrOfContactsForLink";
-  case 1261: return "LinkContactWrenches_getNrOfLinks";
-  case 1262: return "LinkContactWrenches_contactWrench";
-  case 1263: return "LinkContactWrenches_computeNetWrenches";
-  case 1264: return "LinkContactWrenches_toString";
-  case 1265: return "delete_LinkContactWrenches";
-  case 1266: return "_wrap_ForwardPositionKinematics";
-  case 1267: return "_wrap_ForwardVelAccKinematics";
-  case 1268: return "_wrap_ForwardPosVelAccKinematics";
-  case 1269: return "_wrap_ForwardPosVelKinematics";
-  case 1270: return "_wrap_ForwardAccKinematics";
-  case 1271: return "_wrap_ForwardBiasAccKinematics";
-  case 1272: return "_wrap_ComputeLinearAndAngularMomentum";
-  case 1273: return "_wrap_ComputeLinearAndAngularMomentumDerivativeBias";
-  case 1274: return "_wrap_RNEADynamicPhase";
-  case 1275: return "_wrap_CompositeRigidBodyAlgorithm";
-  case 1276: return "new_ArticulatedBodyAlgorithmInternalBuffers";
-  case 1277: return "ArticulatedBodyAlgorithmInternalBuffers_resize";
-  case 1278: return "ArticulatedBodyAlgorithmInternalBuffers_isConsistent";
-  case 1279: return "ArticulatedBodyAlgorithmInternalBuffers_S_get";
-  case 1280: return "ArticulatedBodyAlgorithmInternalBuffers_S_set";
-  case 1281: return "ArticulatedBodyAlgorithmInternalBuffers_U_get";
-  case 1282: return "ArticulatedBodyAlgorithmInternalBuffers_U_set";
-  case 1283: return "ArticulatedBodyAlgorithmInternalBuffers_D_get";
-  case 1284: return "ArticulatedBodyAlgorithmInternalBuffers_D_set";
-  case 1285: return "ArticulatedBodyAlgorithmInternalBuffers_u_get";
-  case 1286: return "ArticulatedBodyAlgorithmInternalBuffers_u_set";
-  case 1287: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_get";
-  case 1288: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_set";
-  case 1289: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get";
-  case 1290: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set";
-  case 1291: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get";
-  case 1292: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set";
-  case 1293: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get";
-  case 1294: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set";
-  case 1295: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get";
-  case 1296: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set";
-  case 1297: return "delete_ArticulatedBodyAlgorithmInternalBuffers";
-  case 1298: return "_wrap_ArticulatedBodyAlgorithm";
-  case 1299: return "_wrap_InverseDynamicsInertialParametersRegressor";
-  case 1300: return "NR_OF_SENSOR_TYPES_get";
-  case 1301: return "_wrap_isLinkSensor";
-  case 1302: return "_wrap_isJointSensor";
-  case 1303: return "_wrap_getSensorTypeSize";
-  case 1304: return "delete_Sensor";
-  case 1305: return "Sensor_getName";
-  case 1306: return "Sensor_getSensorType";
-  case 1307: return "Sensor_isValid";
-  case 1308: return "Sensor_setName";
-  case 1309: return "Sensor_clone";
-  case 1310: return "Sensor_isConsistent";
-  case 1311: return "Sensor_updateIndices";
-  case 1312: return "Sensor_updateIndeces";
-  case 1313: return "delete_JointSensor";
-  case 1314: return "JointSensor_getParentJoint";
-  case 1315: return "JointSensor_getParentJointIndex";
-  case 1316: return "JointSensor_setParentJoint";
-  case 1317: return "JointSensor_setParentJointIndex";
-  case 1318: return "JointSensor_isConsistent";
-  case 1319: return "delete_LinkSensor";
-  case 1320: return "LinkSensor_getParentLink";
-  case 1321: return "LinkSensor_getParentLinkIndex";
-  case 1322: return "LinkSensor_getLinkSensorTransform";
-  case 1323: return "LinkSensor_setParentLink";
-  case 1324: return "LinkSensor_setParentLinkIndex";
-  case 1325: return "LinkSensor_setLinkSensorTransform";
-  case 1326: return "LinkSensor_isConsistent";
-  case 1327: return "new_SensorsList";
-  case 1328: return "delete_SensorsList";
-  case 1329: return "SensorsList_addSensor";
-  case 1330: return "SensorsList_setSerialization";
-  case 1331: return "SensorsList_getSerialization";
-  case 1332: return "SensorsList_getNrOfSensors";
-  case 1333: return "SensorsList_getSensorIndex";
-  case 1334: return "SensorsList_getSizeOfAllSensorsMeasurements";
-  case 1335: return "SensorsList_getSensor";
-  case 1336: return "SensorsList_isConsistent";
-  case 1337: return "SensorsList_removeSensor";
-  case 1338: return "SensorsList_removeAllSensorsOfType";
-  case 1339: return "SensorsList_getSixAxisForceTorqueSensor";
-  case 1340: return "SensorsList_getAccelerometerSensor";
-  case 1341: return "SensorsList_getGyroscopeSensor";
-  case 1342: return "SensorsList_getThreeAxisAngularAccelerometerSensor";
-  case 1343: return "SensorsList_getThreeAxisForceTorqueContactSensor";
-  case 1344: return "new_SensorsMeasurements";
-  case 1345: return "delete_SensorsMeasurements";
-  case 1346: return "SensorsMeasurements_setNrOfSensors";
-  case 1347: return "SensorsMeasurements_getNrOfSensors";
-  case 1348: return "SensorsMeasurements_resize";
-  case 1349: return "SensorsMeasurements_toVector";
-  case 1350: return "SensorsMeasurements_setMeasurement";
-  case 1351: return "SensorsMeasurements_getMeasurement";
-  case 1352: return "SensorsMeasurements_getSizeOfAllSensorsMeasurements";
-  case 1353: return "new_SixAxisForceTorqueSensor";
-  case 1354: return "delete_SixAxisForceTorqueSensor";
-  case 1355: return "SixAxisForceTorqueSensor_setName";
-  case 1356: return "SixAxisForceTorqueSensor_setFirstLinkSensorTransform";
-  case 1357: return "SixAxisForceTorqueSensor_setSecondLinkSensorTransform";
-  case 1358: return "SixAxisForceTorqueSensor_getFirstLinkIndex";
-  case 1359: return "SixAxisForceTorqueSensor_getSecondLinkIndex";
-  case 1360: return "SixAxisForceTorqueSensor_setFirstLinkName";
-  case 1361: return "SixAxisForceTorqueSensor_setSecondLinkName";
-  case 1362: return "SixAxisForceTorqueSensor_getFirstLinkName";
-  case 1363: return "SixAxisForceTorqueSensor_getSecondLinkName";
-  case 1364: return "SixAxisForceTorqueSensor_setParentJoint";
-  case 1365: return "SixAxisForceTorqueSensor_setParentJointIndex";
-  case 1366: return "SixAxisForceTorqueSensor_setAppliedWrenchLink";
-  case 1367: return "SixAxisForceTorqueSensor_getName";
-  case 1368: return "SixAxisForceTorqueSensor_getSensorType";
-  case 1369: return "SixAxisForceTorqueSensor_getParentJoint";
-  case 1370: return "SixAxisForceTorqueSensor_getParentJointIndex";
-  case 1371: return "SixAxisForceTorqueSensor_isValid";
-  case 1372: return "SixAxisForceTorqueSensor_clone";
-  case 1373: return "SixAxisForceTorqueSensor_updateIndices";
-  case 1374: return "SixAxisForceTorqueSensor_updateIndeces";
-  case 1375: return "SixAxisForceTorqueSensor_getAppliedWrenchLink";
-  case 1376: return "SixAxisForceTorqueSensor_isLinkAttachedToSensor";
-  case 1377: return "SixAxisForceTorqueSensor_getLinkSensorTransform";
-  case 1378: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLink";
-  case 1379: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix";
-  case 1380: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix";
-  case 1381: return "SixAxisForceTorqueSensor_predictMeasurement";
-  case 1382: return "SixAxisForceTorqueSensor_toString";
-  case 1383: return "new_AccelerometerSensor";
-  case 1384: return "delete_AccelerometerSensor";
-  case 1385: return "AccelerometerSensor_setName";
-  case 1386: return "AccelerometerSensor_setLinkSensorTransform";
-  case 1387: return "AccelerometerSensor_setParentLink";
-  case 1388: return "AccelerometerSensor_setParentLinkIndex";
-  case 1389: return "AccelerometerSensor_getName";
-  case 1390: return "AccelerometerSensor_getSensorType";
-  case 1391: return "AccelerometerSensor_getParentLink";
-  case 1392: return "AccelerometerSensor_getParentLinkIndex";
-  case 1393: return "AccelerometerSensor_getLinkSensorTransform";
-  case 1394: return "AccelerometerSensor_isValid";
-  case 1395: return "AccelerometerSensor_clone";
-  case 1396: return "AccelerometerSensor_updateIndices";
-  case 1397: return "AccelerometerSensor_updateIndeces";
-  case 1398: return "AccelerometerSensor_predictMeasurement";
-  case 1399: return "new_GyroscopeSensor";
-  case 1400: return "delete_GyroscopeSensor";
-  case 1401: return "GyroscopeSensor_setName";
-  case 1402: return "GyroscopeSensor_setLinkSensorTransform";
-  case 1403: return "GyroscopeSensor_setParentLink";
-  case 1404: return "GyroscopeSensor_setParentLinkIndex";
-  case 1405: return "GyroscopeSensor_getName";
-  case 1406: return "GyroscopeSensor_getSensorType";
-  case 1407: return "GyroscopeSensor_getParentLink";
-  case 1408: return "GyroscopeSensor_getParentLinkIndex";
-  case 1409: return "GyroscopeSensor_getLinkSensorTransform";
-  case 1410: return "GyroscopeSensor_isValid";
-  case 1411: return "GyroscopeSensor_clone";
-  case 1412: return "GyroscopeSensor_updateIndices";
-  case 1413: return "GyroscopeSensor_updateIndeces";
-  case 1414: return "GyroscopeSensor_predictMeasurement";
-  case 1415: return "new_ThreeAxisAngularAccelerometerSensor";
-  case 1416: return "delete_ThreeAxisAngularAccelerometerSensor";
-  case 1417: return "ThreeAxisAngularAccelerometerSensor_setName";
-  case 1418: return "ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform";
-  case 1419: return "ThreeAxisAngularAccelerometerSensor_setParentLink";
-  case 1420: return "ThreeAxisAngularAccelerometerSensor_setParentLinkIndex";
-  case 1421: return "ThreeAxisAngularAccelerometerSensor_getName";
-  case 1422: return "ThreeAxisAngularAccelerometerSensor_getSensorType";
-  case 1423: return "ThreeAxisAngularAccelerometerSensor_getParentLink";
-  case 1424: return "ThreeAxisAngularAccelerometerSensor_getParentLinkIndex";
-  case 1425: return "ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform";
-  case 1426: return "ThreeAxisAngularAccelerometerSensor_isValid";
-  case 1427: return "ThreeAxisAngularAccelerometerSensor_clone";
-  case 1428: return "ThreeAxisAngularAccelerometerSensor_updateIndices";
-  case 1429: return "ThreeAxisAngularAccelerometerSensor_predictMeasurement";
-  case 1430: return "new_ThreeAxisForceTorqueContactSensor";
-  case 1431: return "delete_ThreeAxisForceTorqueContactSensor";
-  case 1432: return "ThreeAxisForceTorqueContactSensor_setName";
-  case 1433: return "ThreeAxisForceTorqueContactSensor_setLinkSensorTransform";
-  case 1434: return "ThreeAxisForceTorqueContactSensor_setParentLink";
-  case 1435: return "ThreeAxisForceTorqueContactSensor_setParentLinkIndex";
-  case 1436: return "ThreeAxisForceTorqueContactSensor_getName";
-  case 1437: return "ThreeAxisForceTorqueContactSensor_getSensorType";
-  case 1438: return "ThreeAxisForceTorqueContactSensor_getParentLink";
-  case 1439: return "ThreeAxisForceTorqueContactSensor_getParentLinkIndex";
-  case 1440: return "ThreeAxisForceTorqueContactSensor_getLinkSensorTransform";
-  case 1441: return "ThreeAxisForceTorqueContactSensor_isValid";
-  case 1442: return "ThreeAxisForceTorqueContactSensor_clone";
-  case 1443: return "ThreeAxisForceTorqueContactSensor_updateIndices";
-  case 1444: return "ThreeAxisForceTorqueContactSensor_setLoadCellLocations";
-  case 1445: return "ThreeAxisForceTorqueContactSensor_getLoadCellLocations";
-  case 1446: return "ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements";
-  case 1447: return "ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements";
-  case 1448: return "_wrap_predictSensorsMeasurements";
-  case 1449: return "_wrap_predictSensorsMeasurementsFromRawBuffers";
-  case 1450: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_get";
-  case 1451: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_set";
-  case 1452: return "URDFParserOptions_originalFilename_get";
-  case 1453: return "URDFParserOptions_originalFilename_set";
-  case 1454: return "new_URDFParserOptions";
-  case 1455: return "delete_URDFParserOptions";
-  case 1456: return "_wrap_modelFromURDF";
-  case 1457: return "_wrap_modelFromURDFString";
-  case 1458: return "_wrap_dofsListFromURDF";
-  case 1459: return "_wrap_dofsListFromURDFString";
-  case 1460: return "_wrap_sensorsFromURDF";
-  case 1461: return "_wrap_sensorsFromURDFString";
-  case 1462: return "ModelParserOptions_addSensorFramesAsAdditionalFrames_get";
-  case 1463: return "ModelParserOptions_addSensorFramesAsAdditionalFrames_set";
-  case 1464: return "ModelParserOptions_originalFilename_get";
-  case 1465: return "ModelParserOptions_originalFilename_set";
-  case 1466: return "new_ModelParserOptions";
-  case 1467: return "delete_ModelParserOptions";
-  case 1468: return "new_ModelLoader";
-  case 1469: return "delete_ModelLoader";
-  case 1470: return "ModelLoader_parsingOptions";
-  case 1471: return "ModelLoader_setParsingOptions";
-  case 1472: return "ModelLoader_loadModelFromString";
-  case 1473: return "ModelLoader_loadModelFromFile";
-  case 1474: return "ModelLoader_loadReducedModelFromFullModel";
-  case 1475: return "ModelLoader_loadReducedModelFromString";
-  case 1476: return "ModelLoader_loadReducedModelFromFile";
-  case 1477: return "ModelLoader_model";
-  case 1478: return "ModelLoader_sensors";
-  case 1479: return "ModelLoader_isValid";
-  case 1480: return "ModelExporterOptions_baseLink_get";
-  case 1481: return "ModelExporterOptions_baseLink_set";
-  case 1482: return "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get";
-  case 1483: return "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set";
-  case 1484: return "new_ModelExporterOptions";
-  case 1485: return "delete_ModelExporterOptions";
-  case 1486: return "new_ModelExporter";
-  case 1487: return "delete_ModelExporter";
-  case 1488: return "ModelExporter_exportingOptions";
-  case 1489: return "ModelExporter_setExportingOptions";
-  case 1490: return "ModelExporter_init";
-  case 1491: return "ModelExporter_model";
-  case 1492: return "ModelExporter_sensors";
-  case 1493: return "ModelExporter_isValid";
-  case 1494: return "ModelExporter_exportModelToString";
-  case 1495: return "ModelExporter_exportModelToFile";
-  case 1496: return "new_ModelCalibrationHelper";
-  case 1497: return "delete_ModelCalibrationHelper";
-  case 1498: return "ModelCalibrationHelper_loadModelFromString";
-  case 1499: return "ModelCalibrationHelper_loadModelFromFile";
-  case 1500: return "ModelCalibrationHelper_updateModelInertialParametersToString";
-  case 1501: return "ModelCalibrationHelper_updateModelInertialParametersToFile";
-  case 1502: return "ModelCalibrationHelper_model";
-  case 1503: return "ModelCalibrationHelper_sensors";
-  case 1504: return "ModelCalibrationHelper_isValid";
-  case 1505: return "new_UnknownWrenchContact";
-  case 1506: return "UnknownWrenchContact_unknownType_get";
-  case 1507: return "UnknownWrenchContact_unknownType_set";
-  case 1508: return "UnknownWrenchContact_contactPoint_get";
-  case 1509: return "UnknownWrenchContact_contactPoint_set";
-  case 1510: return "UnknownWrenchContact_forceDirection_get";
-  case 1511: return "UnknownWrenchContact_forceDirection_set";
-  case 1512: return "UnknownWrenchContact_knownWrench_get";
-  case 1513: return "UnknownWrenchContact_knownWrench_set";
-  case 1514: return "UnknownWrenchContact_contactId_get";
-  case 1515: return "UnknownWrenchContact_contactId_set";
-  case 1516: return "delete_UnknownWrenchContact";
-  case 1517: return "new_LinkUnknownWrenchContacts";
-  case 1518: return "LinkUnknownWrenchContacts_clear";
-  case 1519: return "LinkUnknownWrenchContacts_resize";
-  case 1520: return "LinkUnknownWrenchContacts_getNrOfContactsForLink";
-  case 1521: return "LinkUnknownWrenchContacts_setNrOfContactsForLink";
-  case 1522: return "LinkUnknownWrenchContacts_addNewContactForLink";
-  case 1523: return "LinkUnknownWrenchContacts_addNewContactInFrame";
-  case 1524: return "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin";
-  case 1525: return "LinkUnknownWrenchContacts_contactWrench";
-  case 1526: return "LinkUnknownWrenchContacts_toString";
-  case 1527: return "delete_LinkUnknownWrenchContacts";
-  case 1528: return "new_estimateExternalWrenchesBuffers";
-  case 1529: return "estimateExternalWrenchesBuffers_resize";
-  case 1530: return "estimateExternalWrenchesBuffers_getNrOfSubModels";
-  case 1531: return "estimateExternalWrenchesBuffers_getNrOfLinks";
-  case 1532: return "estimateExternalWrenchesBuffers_isConsistent";
-  case 1533: return "estimateExternalWrenchesBuffers_A_get";
-  case 1534: return "estimateExternalWrenchesBuffers_A_set";
-  case 1535: return "estimateExternalWrenchesBuffers_x_get";
-  case 1536: return "estimateExternalWrenchesBuffers_x_set";
-  case 1537: return "estimateExternalWrenchesBuffers_b_get";
-  case 1538: return "estimateExternalWrenchesBuffers_b_set";
-  case 1539: return "estimateExternalWrenchesBuffers_pinvA_get";
-  case 1540: return "estimateExternalWrenchesBuffers_pinvA_set";
-  case 1541: return "estimateExternalWrenchesBuffers_b_contacts_subtree_get";
-  case 1542: return "estimateExternalWrenchesBuffers_b_contacts_subtree_set";
-  case 1543: return "estimateExternalWrenchesBuffers_subModelBase_H_link_get";
-  case 1544: return "estimateExternalWrenchesBuffers_subModelBase_H_link_set";
-  case 1545: return "delete_estimateExternalWrenchesBuffers";
-  case 1546: return "_wrap_estimateExternalWrenchesWithoutInternalFT";
-  case 1547: return "_wrap_estimateExternalWrenches";
-  case 1548: return "_wrap_dynamicsEstimationForwardVelAccKinematics";
-  case 1549: return "_wrap_dynamicsEstimationForwardVelKinematics";
-  case 1550: return "_wrap_computeLinkNetWrenchesWithoutGravity";
-  case 1551: return "_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches";
-  case 1552: return "new_ExtWrenchesAndJointTorquesEstimator";
-  case 1553: return "delete_ExtWrenchesAndJointTorquesEstimator";
-  case 1554: return "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors";
-  case 1555: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile";
-  case 1556: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs";
-  case 1557: return "ExtWrenchesAndJointTorquesEstimator_model";
-  case 1558: return "ExtWrenchesAndJointTorquesEstimator_sensors";
-  case 1559: return "ExtWrenchesAndJointTorquesEstimator_submodels";
-  case 1560: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase";
-  case 1561: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase";
-  case 1562: return "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements";
-  case 1563: return "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques";
-  case 1564: return "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill";
-  case 1565: return "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity";
-  case 1566: return "new_SimpleLeggedOdometry";
-  case 1567: return "delete_SimpleLeggedOdometry";
-  case 1568: return "SimpleLeggedOdometry_setModel";
-  case 1569: return "SimpleLeggedOdometry_loadModelFromFile";
-  case 1570: return "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs";
-  case 1571: return "SimpleLeggedOdometry_model";
-  case 1572: return "SimpleLeggedOdometry_updateKinematics";
-  case 1573: return "SimpleLeggedOdometry_init";
-  case 1574: return "SimpleLeggedOdometry_changeFixedFrame";
-  case 1575: return "SimpleLeggedOdometry_getCurrentFixedLink";
-  case 1576: return "SimpleLeggedOdometry_getWorldLinkTransform";
-  case 1577: return "SimpleLeggedOdometry_getWorldFrameTransform";
-  case 1578: return "_wrap_isLinkBerdyDynamicVariable";
-  case 1579: return "_wrap_isJointBerdyDynamicVariable";
-  case 1580: return "_wrap_isDOFBerdyDynamicVariable";
-  case 1581: return "new_BerdyOptions";
-  case 1582: return "BerdyOptions_berdyVariant_get";
-  case 1583: return "BerdyOptions_berdyVariant_set";
-  case 1584: return "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get";
-  case 1585: return "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set";
-  case 1586: return "BerdyOptions_includeAllJointAccelerationsAsSensors_get";
-  case 1587: return "BerdyOptions_includeAllJointAccelerationsAsSensors_set";
-  case 1588: return "BerdyOptions_includeAllJointTorquesAsSensors_get";
-  case 1589: return "BerdyOptions_includeAllJointTorquesAsSensors_set";
-  case 1590: return "BerdyOptions_includeAllNetExternalWrenchesAsSensors_get";
-  case 1591: return "BerdyOptions_includeAllNetExternalWrenchesAsSensors_set";
-  case 1592: return "BerdyOptions_includeFixedBaseExternalWrench_get";
-  case 1593: return "BerdyOptions_includeFixedBaseExternalWrench_set";
-  case 1594: return "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get";
-  case 1595: return "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set";
-  case 1596: return "BerdyOptions_baseLink_get";
-  case 1597: return "BerdyOptions_baseLink_set";
-  case 1598: return "BerdyOptions_checkConsistency";
-  case 1599: return "delete_BerdyOptions";
-  case 1600: return "BerdySensor_type_get";
-  case 1601: return "BerdySensor_type_set";
-  case 1602: return "BerdySensor_id_get";
-  case 1603: return "BerdySensor_id_set";
-  case 1604: return "BerdySensor_range_get";
-  case 1605: return "BerdySensor_range_set";
-  case 1606: return "BerdySensor_eq";
-  case 1607: return "BerdySensor_lt";
-  case 1608: return "new_BerdySensor";
-  case 1609: return "delete_BerdySensor";
-  case 1610: return "BerdyDynamicVariable_type_get";
-  case 1611: return "BerdyDynamicVariable_type_set";
-  case 1612: return "BerdyDynamicVariable_id_get";
-  case 1613: return "BerdyDynamicVariable_id_set";
-  case 1614: return "BerdyDynamicVariable_range_get";
-  case 1615: return "BerdyDynamicVariable_range_set";
-  case 1616: return "BerdyDynamicVariable_eq";
-  case 1617: return "BerdyDynamicVariable_lt";
-  case 1618: return "new_BerdyDynamicVariable";
-  case 1619: return "delete_BerdyDynamicVariable";
-  case 1620: return "new_BerdyHelper";
-  case 1621: return "BerdyHelper_dynamicTraversal";
-  case 1622: return "BerdyHelper_model";
-  case 1623: return "BerdyHelper_sensors";
-  case 1624: return "BerdyHelper_isValid";
-  case 1625: return "BerdyHelper_init";
-  case 1626: return "BerdyHelper_getOptions";
-  case 1627: return "BerdyHelper_getNrOfDynamicVariables";
-  case 1628: return "BerdyHelper_getNrOfDynamicEquations";
-  case 1629: return "BerdyHelper_getNrOfSensorsMeasurements";
-  case 1630: return "BerdyHelper_resizeAndZeroBerdyMatrices";
-  case 1631: return "BerdyHelper_getBerdyMatrices";
-  case 1632: return "BerdyHelper_getSensorsOrdering";
-  case 1633: return "BerdyHelper_getRangeSensorVariable";
-  case 1634: return "BerdyHelper_getRangeDOFSensorVariable";
-  case 1635: return "BerdyHelper_getRangeJointSensorVariable";
-  case 1636: return "BerdyHelper_getRangeLinkSensorVariable";
-  case 1637: return "BerdyHelper_getRangeLinkVariable";
-  case 1638: return "BerdyHelper_getRangeJointVariable";
-  case 1639: return "BerdyHelper_getRangeDOFVariable";
-  case 1640: return "BerdyHelper_getDynamicVariablesOrdering";
-  case 1641: return "BerdyHelper_serializeDynamicVariables";
-  case 1642: return "BerdyHelper_serializeSensorVariables";
-  case 1643: return "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA";
-  case 1644: return "BerdyHelper_extractJointTorquesFromDynamicVariables";
-  case 1645: return "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables";
-  case 1646: return "BerdyHelper_updateKinematicsFromFloatingBase";
-  case 1647: return "BerdyHelper_updateKinematicsFromFixedBase";
-  case 1648: return "BerdyHelper_updateKinematicsFromTraversalFixedBase";
-  case 1649: return "BerdyHelper_setNetExternalWrenchMeasurementFrame";
-  case 1650: return "BerdyHelper_getNetExternalWrenchMeasurementFrame";
-  case 1651: return "delete_BerdyHelper";
-  case 1652: return "new_BerdySparseMAPSolver";
-  case 1653: return "delete_BerdySparseMAPSolver";
-  case 1654: return "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance";
-  case 1655: return "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance";
-  case 1656: return "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue";
-  case 1657: return "BerdySparseMAPSolver_setMeasurementsPriorCovariance";
-  case 1658: return "BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse";
-  case 1659: return "BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse";
-  case 1660: return "BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue";
-  case 1661: return "BerdySparseMAPSolver_measurementsPriorCovarianceInverse";
-  case 1662: return "BerdySparseMAPSolver_isValid";
-  case 1663: return "BerdySparseMAPSolver_initialize";
-  case 1664: return "BerdySparseMAPSolver_updateEstimateInformationFixedBase";
-  case 1665: return "BerdySparseMAPSolver_updateEstimateInformationFloatingBase";
-  case 1666: return "BerdySparseMAPSolver_doEstimate";
-  case 1667: return "BerdySparseMAPSolver_getLastEstimate";
-  case 1668: return "AttitudeEstimatorState_m_orientation_get";
-  case 1669: return "AttitudeEstimatorState_m_orientation_set";
-  case 1670: return "AttitudeEstimatorState_m_angular_velocity_get";
-  case 1671: return "AttitudeEstimatorState_m_angular_velocity_set";
-  case 1672: return "AttitudeEstimatorState_m_gyroscope_bias_get";
-  case 1673: return "AttitudeEstimatorState_m_gyroscope_bias_set";
-  case 1674: return "new_AttitudeEstimatorState";
-  case 1675: return "delete_AttitudeEstimatorState";
-  case 1676: return "delete_IAttitudeEstimator";
-  case 1677: return "IAttitudeEstimator_updateFilterWithMeasurements";
-  case 1678: return "IAttitudeEstimator_propagateStates";
-  case 1679: return "IAttitudeEstimator_getOrientationEstimateAsRotationMatrix";
-  case 1680: return "IAttitudeEstimator_getOrientationEstimateAsQuaternion";
-  case 1681: return "IAttitudeEstimator_getOrientationEstimateAsRPY";
-  case 1682: return "IAttitudeEstimator_getInternalStateSize";
-  case 1683: return "IAttitudeEstimator_getInternalState";
-  case 1684: return "IAttitudeEstimator_getDefaultInternalInitialState";
-  case 1685: return "IAttitudeEstimator_setInternalState";
-  case 1686: return "IAttitudeEstimator_setInternalStateInitialOrientation";
-  case 1687: return "AttitudeMahonyFilterParameters_time_step_in_seconds_get";
-  case 1688: return "AttitudeMahonyFilterParameters_time_step_in_seconds_set";
-  case 1689: return "AttitudeMahonyFilterParameters_kp_get";
-  case 1690: return "AttitudeMahonyFilterParameters_kp_set";
-  case 1691: return "AttitudeMahonyFilterParameters_ki_get";
-  case 1692: return "AttitudeMahonyFilterParameters_ki_set";
-  case 1693: return "AttitudeMahonyFilterParameters_use_magnetometer_measurements_get";
-  case 1694: return "AttitudeMahonyFilterParameters_use_magnetometer_measurements_set";
-  case 1695: return "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get";
-  case 1696: return "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set";
-  case 1697: return "new_AttitudeMahonyFilterParameters";
-  case 1698: return "delete_AttitudeMahonyFilterParameters";
-  case 1699: return "new_AttitudeMahonyFilter";
-  case 1700: return "AttitudeMahonyFilter_useMagnetoMeterMeasurements";
-  case 1701: return "AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements";
-  case 1702: return "AttitudeMahonyFilter_setGainkp";
-  case 1703: return "AttitudeMahonyFilter_setGainki";
-  case 1704: return "AttitudeMahonyFilter_setTimeStepInSeconds";
-  case 1705: return "AttitudeMahonyFilter_setGravityDirection";
-  case 1706: return "AttitudeMahonyFilter_setParameters";
-  case 1707: return "AttitudeMahonyFilter_getParameters";
-  case 1708: return "AttitudeMahonyFilter_updateFilterWithMeasurements";
-  case 1709: return "AttitudeMahonyFilter_propagateStates";
-  case 1710: return "AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix";
-  case 1711: return "AttitudeMahonyFilter_getOrientationEstimateAsQuaternion";
-  case 1712: return "AttitudeMahonyFilter_getOrientationEstimateAsRPY";
-  case 1713: return "AttitudeMahonyFilter_getInternalStateSize";
-  case 1714: return "AttitudeMahonyFilter_getInternalState";
-  case 1715: return "AttitudeMahonyFilter_getDefaultInternalInitialState";
-  case 1716: return "AttitudeMahonyFilter_setInternalState";
-  case 1717: return "AttitudeMahonyFilter_setInternalStateInitialOrientation";
-  case 1718: return "delete_AttitudeMahonyFilter";
-  case 1719: return "DiscreteExtendedKalmanFilterHelper_ekf_f";
-  case 1720: return "DiscreteExtendedKalmanFilterHelper_ekf_h";
-  case 1721: return "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF";
-  case 1722: return "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH";
-  case 1723: return "DiscreteExtendedKalmanFilterHelper_ekfPredict";
-  case 1724: return "DiscreteExtendedKalmanFilterHelper_ekfUpdate";
-  case 1725: return "DiscreteExtendedKalmanFilterHelper_ekfInit";
-  case 1726: return "DiscreteExtendedKalmanFilterHelper_ekfReset";
-  case 1727: return "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector";
-  case 1728: return "DiscreteExtendedKalmanFilterHelper_ekfSetInputVector";
-  case 1729: return "DiscreteExtendedKalmanFilterHelper_ekfSetInitialState";
-  case 1730: return "DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance";
-  case 1731: return "DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance";
-  case 1732: return "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance";
-  case 1733: return "DiscreteExtendedKalmanFilterHelper_ekfSetStateSize";
-  case 1734: return "DiscreteExtendedKalmanFilterHelper_ekfSetInputSize";
-  case 1735: return "DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize";
-  case 1736: return "DiscreteExtendedKalmanFilterHelper_ekfGetStates";
-  case 1737: return "DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance";
-  case 1738: return "delete_DiscreteExtendedKalmanFilterHelper";
-  case 1739: return "output_dimensions_with_magnetometer_get";
-  case 1740: return "output_dimensions_without_magnetometer_get";
-  case 1741: return "input_dimensions_get";
-  case 1742: return "AttitudeQuaternionEKFParameters_time_step_in_seconds_get";
-  case 1743: return "AttitudeQuaternionEKFParameters_time_step_in_seconds_set";
-  case 1744: return "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get";
-  case 1745: return "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set";
-  case 1746: return "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get";
-  case 1747: return "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set";
-  case 1748: return "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get";
-  case 1749: return "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set";
-  case 1750: return "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get";
-  case 1751: return "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set";
-  case 1752: return "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get";
-  case 1753: return "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set";
-  case 1754: return "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get";
-  case 1755: return "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set";
-  case 1756: return "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get";
-  case 1757: return "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set";
-  case 1758: return "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get";
-  case 1759: return "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set";
-  case 1760: return "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get";
-  case 1761: return "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set";
-  case 1762: return "new_AttitudeQuaternionEKFParameters";
-  case 1763: return "delete_AttitudeQuaternionEKFParameters";
-  case 1764: return "new_AttitudeQuaternionEKF";
-  case 1765: return "AttitudeQuaternionEKF_getParameters";
-  case 1766: return "AttitudeQuaternionEKF_setParameters";
-  case 1767: return "AttitudeQuaternionEKF_setGravityDirection";
-  case 1768: return "AttitudeQuaternionEKF_setTimeStepInSeconds";
-  case 1769: return "AttitudeQuaternionEKF_setBiasCorrelationTimeFactor";
-  case 1770: return "AttitudeQuaternionEKF_useMagnetometerMeasurements";
-  case 1771: return "AttitudeQuaternionEKF_setMeasurementNoiseVariance";
-  case 1772: return "AttitudeQuaternionEKF_setSystemNoiseVariance";
-  case 1773: return "AttitudeQuaternionEKF_setInitialStateCovariance";
-  case 1774: return "AttitudeQuaternionEKF_initializeFilter";
-  case 1775: return "AttitudeQuaternionEKF_updateFilterWithMeasurements";
-  case 1776: return "AttitudeQuaternionEKF_propagateStates";
-  case 1777: return "AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix";
-  case 1778: return "AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion";
-  case 1779: return "AttitudeQuaternionEKF_getOrientationEstimateAsRPY";
-  case 1780: return "AttitudeQuaternionEKF_getInternalStateSize";
-  case 1781: return "AttitudeQuaternionEKF_getInternalState";
-  case 1782: return "AttitudeQuaternionEKF_getDefaultInternalInitialState";
-  case 1783: return "AttitudeQuaternionEKF_setInternalState";
-  case 1784: return "AttitudeQuaternionEKF_setInternalStateInitialOrientation";
-  case 1785: return "delete_AttitudeQuaternionEKF";
-  case 1786: return "_wrap_estimateInertialParametersFromLinkBoundingBoxesAndTotalMass";
-  case 1787: return "DynamicsRegressorParameter_category_get";
-  case 1788: return "DynamicsRegressorParameter_category_set";
-  case 1789: return "DynamicsRegressorParameter_elemIndex_get";
-  case 1790: return "DynamicsRegressorParameter_elemIndex_set";
-  case 1791: return "DynamicsRegressorParameter_type_get";
-  case 1792: return "DynamicsRegressorParameter_type_set";
-  case 1793: return "DynamicsRegressorParameter_lt";
-  case 1794: return "DynamicsRegressorParameter_eq";
-  case 1795: return "DynamicsRegressorParameter_ne";
-  case 1796: return "new_DynamicsRegressorParameter";
-  case 1797: return "delete_DynamicsRegressorParameter";
-  case 1798: return "DynamicsRegressorParametersList_parameters_get";
-  case 1799: return "DynamicsRegressorParametersList_parameters_set";
-  case 1800: return "DynamicsRegressorParametersList_getDescriptionOfParameter";
-  case 1801: return "DynamicsRegressorParametersList_addParam";
-  case 1802: return "DynamicsRegressorParametersList_addList";
-  case 1803: return "DynamicsRegressorParametersList_findParam";
-  case 1804: return "DynamicsRegressorParametersList_getNrOfParameters";
-  case 1805: return "new_DynamicsRegressorParametersList";
-  case 1806: return "delete_DynamicsRegressorParametersList";
-  case 1807: return "new_DynamicsRegressorGenerator";
-  case 1808: return "delete_DynamicsRegressorGenerator";
-  case 1809: return "DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile";
-  case 1810: return "DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString";
-  case 1811: return "DynamicsRegressorGenerator_loadRegressorStructureFromFile";
-  case 1812: return "DynamicsRegressorGenerator_loadRegressorStructureFromString";
-  case 1813: return "DynamicsRegressorGenerator_isValid";
-  case 1814: return "DynamicsRegressorGenerator_getNrOfParameters";
-  case 1815: return "DynamicsRegressorGenerator_getNrOfOutputs";
-  case 1816: return "DynamicsRegressorGenerator_getNrOfDegreesOfFreedom";
-  case 1817: return "DynamicsRegressorGenerator_getDescriptionOfParameter";
-  case 1818: return "DynamicsRegressorGenerator_getDescriptionOfParameters";
-  case 1819: return "DynamicsRegressorGenerator_getDescriptionOfOutput";
-  case 1820: return "DynamicsRegressorGenerator_getDescriptionOfOutputs";
-  case 1821: return "DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom";
-  case 1822: return "DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom";
-  case 1823: return "DynamicsRegressorGenerator_getDescriptionOfLink";
-  case 1824: return "DynamicsRegressorGenerator_getDescriptionOfLinks";
-  case 1825: return "DynamicsRegressorGenerator_getNrOfLinks";
-  case 1826: return "DynamicsRegressorGenerator_getNrOfFakeLinks";
-  case 1827: return "DynamicsRegressorGenerator_getBaseLinkName";
-  case 1828: return "DynamicsRegressorGenerator_getSensorsModel";
-  case 1829: return "DynamicsRegressorGenerator_setRobotState";
-  case 1830: return "DynamicsRegressorGenerator_getSensorsMeasurements";
-  case 1831: return "DynamicsRegressorGenerator_setTorqueSensorMeasurement";
-  case 1832: return "DynamicsRegressorGenerator_computeRegressor";
-  case 1833: return "DynamicsRegressorGenerator_getModelParameters";
-  case 1834: return "DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace";
-  case 1835: return "DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace";
-  case 1836: return "DynamicsRegressorGenerator_generate_random_regressors";
-  case 1837: return "new_KinDynComputations";
-  case 1838: return "delete_KinDynComputations";
-  case 1839: return "KinDynComputations_loadRobotModel";
-  case 1840: return "KinDynComputations_loadRobotModelFromFile";
-  case 1841: return "KinDynComputations_loadRobotModelFromString";
-  case 1842: return "KinDynComputations_isValid";
-  case 1843: return "KinDynComputations_setFrameVelocityRepresentation";
-  case 1844: return "KinDynComputations_getFrameVelocityRepresentation";
-  case 1845: return "KinDynComputations_getNrOfDegreesOfFreedom";
-  case 1846: return "KinDynComputations_getDescriptionOfDegreeOfFreedom";
-  case 1847: return "KinDynComputations_getDescriptionOfDegreesOfFreedom";
-  case 1848: return "KinDynComputations_getNrOfLinks";
-  case 1849: return "KinDynComputations_getNrOfFrames";
-  case 1850: return "KinDynComputations_getFloatingBase";
-  case 1851: return "KinDynComputations_setFloatingBase";
-  case 1852: return "KinDynComputations_model";
-  case 1853: return "KinDynComputations_getRobotModel";
-  case 1854: return "KinDynComputations_getRelativeJacobianSparsityPattern";
-  case 1855: return "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern";
-  case 1856: return "KinDynComputations_setJointPos";
-  case 1857: return "KinDynComputations_setRobotState";
-  case 1858: return "KinDynComputations_getRobotState";
-  case 1859: return "KinDynComputations_getWorldBaseTransform";
-  case 1860: return "KinDynComputations_getBaseTwist";
-  case 1861: return "KinDynComputations_getJointPos";
-  case 1862: return "KinDynComputations_getJointVel";
-  case 1863: return "KinDynComputations_getModelVel";
-  case 1864: return "KinDynComputations_getFrameIndex";
-  case 1865: return "KinDynComputations_getFrameName";
-  case 1866: return "KinDynComputations_getWorldTransform";
-  case 1867: return "KinDynComputations_getRelativeTransformExplicit";
-  case 1868: return "KinDynComputations_getRelativeTransform";
-  case 1869: return "KinDynComputations_getFrameVel";
-  case 1870: return "KinDynComputations_getFrameAcc";
-  case 1871: return "KinDynComputations_getFrameFreeFloatingJacobian";
-  case 1872: return "KinDynComputations_getRelativeJacobian";
-  case 1873: return "KinDynComputations_getRelativeJacobianExplicit";
-  case 1874: return "KinDynComputations_getFrameBiasAcc";
-  case 1875: return "KinDynComputations_getCenterOfMassPosition";
-  case 1876: return "KinDynComputations_getCenterOfMassVelocity";
-  case 1877: return "KinDynComputations_getCenterOfMassJacobian";
-  case 1878: return "KinDynComputations_getCenterOfMassBiasAcc";
-  case 1879: return "KinDynComputations_getAverageVelocity";
-  case 1880: return "KinDynComputations_getAverageVelocityJacobian";
-  case 1881: return "KinDynComputations_getCentroidalAverageVelocity";
-  case 1882: return "KinDynComputations_getCentroidalAverageVelocityJacobian";
-  case 1883: return "KinDynComputations_getLinearAngularMomentum";
-  case 1884: return "KinDynComputations_getLinearAngularMomentumJacobian";
-  case 1885: return "KinDynComputations_getCentroidalTotalMomentum";
-  case 1886: return "KinDynComputations_getFreeFloatingMassMatrix";
-  case 1887: return "KinDynComputations_inverseDynamics";
-  case 1888: return "KinDynComputations_generalizedBiasForces";
-  case 1889: return "KinDynComputations_generalizedGravityForces";
-  case 1890: return "KinDynComputations_generalizedExternalForces";
-  case 1891: return "KinDynComputations_inverseDynamicsInertialParametersRegressor";
-  case 1892: return "delete_ICamera";
-  case 1893: return "ICamera_setPosition";
-  case 1894: return "ICamera_setTarget";
-  case 1895: return "ICamera_setUpVector";
-  case 1896: return "ColorViz_r_get";
-  case 1897: return "ColorViz_r_set";
-  case 1898: return "ColorViz_g_get";
-  case 1899: return "ColorViz_g_set";
-  case 1900: return "ColorViz_b_get";
-  case 1901: return "ColorViz_b_set";
-  case 1902: return "ColorViz_a_get";
-  case 1903: return "ColorViz_a_set";
-  case 1904: return "new_ColorViz";
-  case 1905: return "delete_ColorViz";
-  case 1906: return "delete_ILight";
-  case 1907: return "ILight_getName";
-  case 1908: return "ILight_setType";
-  case 1909: return "ILight_getType";
-  case 1910: return "ILight_setPosition";
-  case 1911: return "ILight_getPosition";
-  case 1912: return "ILight_setDirection";
-  case 1913: return "ILight_getDirection";
-  case 1914: return "ILight_setAmbientColor";
-  case 1915: return "ILight_getAmbientColor";
-  case 1916: return "ILight_setSpecularColor";
-  case 1917: return "ILight_getSpecularColor";
-  case 1918: return "ILight_setDiffuseColor";
-  case 1919: return "ILight_getDiffuseColor";
-  case 1920: return "delete_IEnvironment";
-  case 1921: return "IEnvironment_getElements";
-  case 1922: return "IEnvironment_setElementVisibility";
-  case 1923: return "IEnvironment_setBackgroundColor";
-  case 1924: return "IEnvironment_setAmbientLight";
-  case 1925: return "IEnvironment_getLights";
-  case 1926: return "IEnvironment_addLight";
-  case 1927: return "IEnvironment_lightViz";
-  case 1928: return "IEnvironment_removeLight";
-  case 1929: return "delete_IJetsVisualization";
-  case 1930: return "IJetsVisualization_setJetsFrames";
-  case 1931: return "IJetsVisualization_getNrOfJets";
-  case 1932: return "IJetsVisualization_getJetDirection";
-  case 1933: return "IJetsVisualization_setJetDirection";
-  case 1934: return "IJetsVisualization_setJetColor";
-  case 1935: return "IJetsVisualization_setJetsDimensions";
-  case 1936: return "IJetsVisualization_setJetsIntensity";
-  case 1937: return "delete_IVectorsVisualization";
-  case 1938: return "IVectorsVisualization_addVector";
-  case 1939: return "IVectorsVisualization_getNrOfVectors";
-  case 1940: return "IVectorsVisualization_getVector";
-  case 1941: return "IVectorsVisualization_updateVector";
-  case 1942: return "IVectorsVisualization_setVectorColor";
-  case 1943: return "IVectorsVisualization_setVectorsAspect";
-  case 1944: return "delete_IModelVisualization";
-  case 1945: return "IModelVisualization_setPositions";
-  case 1946: return "IModelVisualization_setLinkPositions";
-  case 1947: return "IModelVisualization_model";
-  case 1948: return "IModelVisualization_getInstanceName";
-  case 1949: return "IModelVisualization_setModelVisibility";
-  case 1950: return "IModelVisualization_setModelColor";
-  case 1951: return "IModelVisualization_resetModelColor";
-  case 1952: return "IModelVisualization_setLinkColor";
-  case 1953: return "IModelVisualization_resetLinkColor";
-  case 1954: return "IModelVisualization_getLinkNames";
-  case 1955: return "IModelVisualization_setLinkVisibility";
-  case 1956: return "IModelVisualization_getFeatures";
-  case 1957: return "IModelVisualization_setFeatureVisibility";
-  case 1958: return "IModelVisualization_jets";
-  case 1959: return "IModelVisualization_getWorldModelTransform";
-  case 1960: return "IModelVisualization_getWorldLinkTransform";
-  case 1961: return "VisualizerOptions_verbose_get";
-  case 1962: return "VisualizerOptions_verbose_set";
-  case 1963: return "VisualizerOptions_winWidth_get";
-  case 1964: return "VisualizerOptions_winWidth_set";
-  case 1965: return "VisualizerOptions_winHeight_get";
-  case 1966: return "VisualizerOptions_winHeight_set";
-  case 1967: return "VisualizerOptions_rootFrameArrowsDimension_get";
-  case 1968: return "VisualizerOptions_rootFrameArrowsDimension_set";
-  case 1969: return "new_VisualizerOptions";
-  case 1970: return "delete_VisualizerOptions";
-  case 1971: return "new_Visualizer";
-  case 1972: return "delete_Visualizer";
-  case 1973: return "Visualizer_init";
-  case 1974: return "Visualizer_getNrOfVisualizedModels";
-  case 1975: return "Visualizer_getModelInstanceName";
-  case 1976: return "Visualizer_getModelInstanceIndex";
-  case 1977: return "Visualizer_addModel";
-  case 1978: return "Visualizer_modelViz";
-  case 1979: return "Visualizer_camera";
-  case 1980: return "Visualizer_enviroment";
-  case 1981: return "Visualizer_vectors";
-  case 1982: return "Visualizer_run";
-  case 1983: return "Visualizer_draw";
-  case 1984: return "Visualizer_drawToFile";
-  case 1985: return "Visualizer_close";
-  case 1986: return "Polygon_m_vertices_get";
-  case 1987: return "Polygon_m_vertices_set";
-  case 1988: return "new_Polygon";
-  case 1989: return "Polygon_setNrOfVertices";
-  case 1990: return "Polygon_getNrOfVertices";
-  case 1991: return "Polygon_isValid";
-  case 1992: return "Polygon_applyTransform";
-  case 1993: return "Polygon_paren";
-  case 1994: return "Polygon_XYRectangleFromOffsets";
-  case 1995: return "delete_Polygon";
-  case 1996: return "Polygon2D_m_vertices_get";
-  case 1997: return "Polygon2D_m_vertices_set";
-  case 1998: return "new_Polygon2D";
-  case 1999: return "Polygon2D_setNrOfVertices";
-  case 2000: return "Polygon2D_getNrOfVertices";
-  case 2001: return "Polygon2D_isValid";
-  case 2002: return "Polygon2D_paren";
-  case 2003: return "delete_Polygon2D";
-  case 2004: return "ConvexHullProjectionConstraint_setActive";
-  case 2005: return "ConvexHullProjectionConstraint_isActive";
-  case 2006: return "ConvexHullProjectionConstraint_getNrOfConstraints";
-  case 2007: return "ConvexHullProjectionConstraint_projectedConvexHull_get";
-  case 2008: return "ConvexHullProjectionConstraint_projectedConvexHull_set";
-  case 2009: return "ConvexHullProjectionConstraint_A_get";
-  case 2010: return "ConvexHullProjectionConstraint_A_set";
-  case 2011: return "ConvexHullProjectionConstraint_b_get";
-  case 2012: return "ConvexHullProjectionConstraint_b_set";
-  case 2013: return "ConvexHullProjectionConstraint_P_get";
-  case 2014: return "ConvexHullProjectionConstraint_P_set";
-  case 2015: return "ConvexHullProjectionConstraint_Pdirection_get";
-  case 2016: return "ConvexHullProjectionConstraint_Pdirection_set";
-  case 2017: return "ConvexHullProjectionConstraint_AtimesP_get";
-  case 2018: return "ConvexHullProjectionConstraint_AtimesP_set";
-  case 2019: return "ConvexHullProjectionConstraint_o_get";
-  case 2020: return "ConvexHullProjectionConstraint_o_set";
-  case 2021: return "ConvexHullProjectionConstraint_buildConvexHull";
-  case 2022: return "ConvexHullProjectionConstraint_supportFrameIndices_get";
-  case 2023: return "ConvexHullProjectionConstraint_supportFrameIndices_set";
-  case 2024: return "ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_get";
-  case 2025: return "ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_set";
-  case 2026: return "ConvexHullProjectionConstraint_project";
-  case 2027: return "ConvexHullProjectionConstraint_computeMargin";
-  case 2028: return "ConvexHullProjectionConstraint_setProjectionAlongDirection";
-  case 2029: return "ConvexHullProjectionConstraint_projectAlongDirection";
-  case 2030: return "new_ConvexHullProjectionConstraint";
-  case 2031: return "delete_ConvexHullProjectionConstraint";
-  case 2032: return "_wrap_sizeOfRotationParametrization";
-  case 2033: return "new_InverseKinematics";
-  case 2034: return "delete_InverseKinematics";
-  case 2035: return "InverseKinematics_loadModelFromFile";
-  case 2036: return "InverseKinematics_setModel";
-  case 2037: return "InverseKinematics_setJointLimits";
-  case 2038: return "InverseKinematics_getJointLimits";
-  case 2039: return "InverseKinematics_clearProblem";
-  case 2040: return "InverseKinematics_setFloatingBaseOnFrameNamed";
-  case 2041: return "InverseKinematics_setRobotConfiguration";
-  case 2042: return "InverseKinematics_setCurrentRobotConfiguration";
-  case 2043: return "InverseKinematics_setJointConfiguration";
-  case 2044: return "InverseKinematics_setRotationParametrization";
-  case 2045: return "InverseKinematics_rotationParametrization";
-  case 2046: return "InverseKinematics_setMaxIterations";
-  case 2047: return "InverseKinematics_maxIterations";
-  case 2048: return "InverseKinematics_setMaxCPUTime";
-  case 2049: return "InverseKinematics_maxCPUTime";
-  case 2050: return "InverseKinematics_setCostTolerance";
-  case 2051: return "InverseKinematics_costTolerance";
-  case 2052: return "InverseKinematics_setConstraintsTolerance";
-  case 2053: return "InverseKinematics_constraintsTolerance";
-  case 2054: return "InverseKinematics_setVerbosity";
-  case 2055: return "InverseKinematics_linearSolverName";
-  case 2056: return "InverseKinematics_setLinearSolverName";
-  case 2057: return "InverseKinematics_addFrameConstraint";
-  case 2058: return "InverseKinematics_addFramePositionConstraint";
-  case 2059: return "InverseKinematics_addFrameRotationConstraint";
-  case 2060: return "InverseKinematics_activateFrameConstraint";
-  case 2061: return "InverseKinematics_deactivateFrameConstraint";
-  case 2062: return "InverseKinematics_isFrameConstraintActive";
-  case 2063: return "InverseKinematics_addCenterOfMassProjectionConstraint";
-  case 2064: return "InverseKinematics_getCenterOfMassProjectionMargin";
-  case 2065: return "InverseKinematics_getCenterOfMassProjectConstraintConvexHull";
-  case 2066: return "InverseKinematics_addTarget";
-  case 2067: return "InverseKinematics_addPositionTarget";
-  case 2068: return "InverseKinematics_addRotationTarget";
-  case 2069: return "InverseKinematics_updateTarget";
-  case 2070: return "InverseKinematics_updatePositionTarget";
-  case 2071: return "InverseKinematics_updateRotationTarget";
-  case 2072: return "InverseKinematics_setDefaultTargetResolutionMode";
-  case 2073: return "InverseKinematics_defaultTargetResolutionMode";
-  case 2074: return "InverseKinematics_setTargetResolutionMode";
-  case 2075: return "InverseKinematics_targetResolutionMode";
-  case 2076: return "InverseKinematics_setDesiredJointConfiguration";
-  case 2077: return "InverseKinematics_setDesiredFullJointsConfiguration";
-  case 2078: return "InverseKinematics_setDesiredReducedJointConfiguration";
-  case 2079: return "InverseKinematics_setInitialCondition";
-  case 2080: return "InverseKinematics_setFullJointsInitialCondition";
-  case 2081: return "InverseKinematics_setReducedInitialCondition";
-  case 2082: return "InverseKinematics_solve";
-  case 2083: return "InverseKinematics_getSolution";
-  case 2084: return "InverseKinematics_getFullJointsSolution";
-  case 2085: return "InverseKinematics_getReducedSolution";
-  case 2086: return "InverseKinematics_getPoseForFrame";
-  case 2087: return "InverseKinematics_model";
-  case 2088: return "InverseKinematics_fullModel";
-  case 2089: return "InverseKinematics_reducedModel";
-  case 2090: return "InverseKinematics_setCOMTarget";
-  case 2091: return "InverseKinematics_setCOMAsConstraint";
-  case 2092: return "InverseKinematics_setCOMAsConstraintTolerance";
-  case 2093: return "InverseKinematics_isCOMAConstraint";
-  case 2094: return "InverseKinematics_isCOMTargetActive";
-  case 2095: return "InverseKinematics_deactivateCOMTarget";
-  case 2096: return "InverseKinematics_setCOMConstraintProjectionDirection";
-  case 2097: return "new_DynamicsComputations";
-  case 2098: return "delete_DynamicsComputations";
-  case 2099: return "DynamicsComputations_loadRobotModelFromFile";
-  case 2100: return "DynamicsComputations_loadRobotModelFromString";
-  case 2101: return "DynamicsComputations_isValid";
-  case 2102: return "DynamicsComputations_getNrOfDegreesOfFreedom";
-  case 2103: return "DynamicsComputations_getDescriptionOfDegreeOfFreedom";
-  case 2104: return "DynamicsComputations_getDescriptionOfDegreesOfFreedom";
-  case 2105: return "DynamicsComputations_getNrOfLinks";
-  case 2106: return "DynamicsComputations_getNrOfFrames";
-  case 2107: return "DynamicsComputations_getFloatingBase";
-  case 2108: return "DynamicsComputations_setFloatingBase";
-  case 2109: return "DynamicsComputations_setRobotState";
-  case 2110: return "DynamicsComputations_getWorldBaseTransform";
-  case 2111: return "DynamicsComputations_getBaseTwist";
-  case 2112: return "DynamicsComputations_getJointPos";
-  case 2113: return "DynamicsComputations_getJointVel";
-  case 2114: return "DynamicsComputations_getFrameIndex";
-  case 2115: return "DynamicsComputations_getFrameName";
-  case 2116: return "DynamicsComputations_getWorldTransform";
-  case 2117: return "DynamicsComputations_getRelativeTransform";
-  case 2118: return "DynamicsComputations_getFrameTwist";
-  case 2119: return "DynamicsComputations_getFrameTwistInWorldOrient";
-  case 2120: return "DynamicsComputations_getFrameProperSpatialAcceleration";
-  case 2121: return "DynamicsComputations_getLinkIndex";
-  case 2122: return "DynamicsComputations_getLinkInertia";
-  case 2123: return "DynamicsComputations_getJointIndex";
-  case 2124: return "DynamicsComputations_getJointName";
-  case 2125: return "DynamicsComputations_getJointLimits";
-  case 2126: return "DynamicsComputations_inverseDynamics";
-  case 2127: return "DynamicsComputations_getFreeFloatingMassMatrix";
-  case 2128: return "DynamicsComputations_getFrameJacobian";
-  case 2129: return "DynamicsComputations_getDynamicsRegressor";
-  case 2130: return "DynamicsComputations_getModelDynamicsParameters";
-  case 2131: return "DynamicsComputations_getCenterOfMass";
-  case 2132: return "DynamicsComputations_getCenterOfMassJacobian";
+  case 164: return "VectorDynSize_cbegin";
+  case 165: return "VectorDynSize_cend";
+  case 166: return "VectorDynSize_begin";
+  case 167: return "VectorDynSize_end";
+  case 168: return "VectorDynSize_size";
+  case 169: return "VectorDynSize_data";
+  case 170: return "VectorDynSize_zero";
+  case 171: return "VectorDynSize_reserve";
+  case 172: return "VectorDynSize_resize";
+  case 173: return "VectorDynSize_shrink_to_fit";
+  case 174: return "VectorDynSize_capacity";
+  case 175: return "VectorDynSize_fillBuffer";
+  case 176: return "VectorDynSize_toString";
+  case 177: return "VectorDynSize_display";
+  case 178: return "VectorDynSize_toMatlab";
+  case 179: return "VectorDynSize_fromMatlab";
+  case 180: return "new_Matrix1x6";
+  case 181: return "Matrix1x6_paren";
+  case 182: return "Matrix1x6_getVal";
+  case 183: return "Matrix1x6_setVal";
+  case 184: return "Matrix1x6_rows";
+  case 185: return "Matrix1x6_cols";
+  case 186: return "Matrix1x6_data";
+  case 187: return "Matrix1x6_zero";
+  case 188: return "Matrix1x6_fillRowMajorBuffer";
+  case 189: return "Matrix1x6_fillColMajorBuffer";
+  case 190: return "Matrix1x6_toString";
+  case 191: return "Matrix1x6_display";
+  case 192: return "Matrix1x6_toMatlab";
+  case 193: return "Matrix1x6_fromMatlab";
+  case 194: return "delete_Matrix1x6";
+  case 195: return "new_Matrix2x3";
+  case 196: return "Matrix2x3_paren";
+  case 197: return "Matrix2x3_getVal";
+  case 198: return "Matrix2x3_setVal";
+  case 199: return "Matrix2x3_rows";
+  case 200: return "Matrix2x3_cols";
+  case 201: return "Matrix2x3_data";
+  case 202: return "Matrix2x3_zero";
+  case 203: return "Matrix2x3_fillRowMajorBuffer";
+  case 204: return "Matrix2x3_fillColMajorBuffer";
+  case 205: return "Matrix2x3_toString";
+  case 206: return "Matrix2x3_display";
+  case 207: return "Matrix2x3_toMatlab";
+  case 208: return "Matrix2x3_fromMatlab";
+  case 209: return "delete_Matrix2x3";
+  case 210: return "new_Matrix3x3";
+  case 211: return "Matrix3x3_paren";
+  case 212: return "Matrix3x3_getVal";
+  case 213: return "Matrix3x3_setVal";
+  case 214: return "Matrix3x3_rows";
+  case 215: return "Matrix3x3_cols";
+  case 216: return "Matrix3x3_data";
+  case 217: return "Matrix3x3_zero";
+  case 218: return "Matrix3x3_fillRowMajorBuffer";
+  case 219: return "Matrix3x3_fillColMajorBuffer";
+  case 220: return "Matrix3x3_toString";
+  case 221: return "Matrix3x3_display";
+  case 222: return "Matrix3x3_toMatlab";
+  case 223: return "Matrix3x3_fromMatlab";
+  case 224: return "delete_Matrix3x3";
+  case 225: return "new_Matrix4x4";
+  case 226: return "Matrix4x4_paren";
+  case 227: return "Matrix4x4_getVal";
+  case 228: return "Matrix4x4_setVal";
+  case 229: return "Matrix4x4_rows";
+  case 230: return "Matrix4x4_cols";
+  case 231: return "Matrix4x4_data";
+  case 232: return "Matrix4x4_zero";
+  case 233: return "Matrix4x4_fillRowMajorBuffer";
+  case 234: return "Matrix4x4_fillColMajorBuffer";
+  case 235: return "Matrix4x4_toString";
+  case 236: return "Matrix4x4_display";
+  case 237: return "Matrix4x4_toMatlab";
+  case 238: return "Matrix4x4_fromMatlab";
+  case 239: return "delete_Matrix4x4";
+  case 240: return "new_Matrix6x6";
+  case 241: return "Matrix6x6_paren";
+  case 242: return "Matrix6x6_getVal";
+  case 243: return "Matrix6x6_setVal";
+  case 244: return "Matrix6x6_rows";
+  case 245: return "Matrix6x6_cols";
+  case 246: return "Matrix6x6_data";
+  case 247: return "Matrix6x6_zero";
+  case 248: return "Matrix6x6_fillRowMajorBuffer";
+  case 249: return "Matrix6x6_fillColMajorBuffer";
+  case 250: return "Matrix6x6_toString";
+  case 251: return "Matrix6x6_display";
+  case 252: return "Matrix6x6_toMatlab";
+  case 253: return "Matrix6x6_fromMatlab";
+  case 254: return "delete_Matrix6x6";
+  case 255: return "new_Matrix6x10";
+  case 256: return "Matrix6x10_paren";
+  case 257: return "Matrix6x10_getVal";
+  case 258: return "Matrix6x10_setVal";
+  case 259: return "Matrix6x10_rows";
+  case 260: return "Matrix6x10_cols";
+  case 261: return "Matrix6x10_data";
+  case 262: return "Matrix6x10_zero";
+  case 263: return "Matrix6x10_fillRowMajorBuffer";
+  case 264: return "Matrix6x10_fillColMajorBuffer";
+  case 265: return "Matrix6x10_toString";
+  case 266: return "Matrix6x10_display";
+  case 267: return "Matrix6x10_toMatlab";
+  case 268: return "Matrix6x10_fromMatlab";
+  case 269: return "delete_Matrix6x10";
+  case 270: return "new_Matrix10x16";
+  case 271: return "Matrix10x16_paren";
+  case 272: return "Matrix10x16_getVal";
+  case 273: return "Matrix10x16_setVal";
+  case 274: return "Matrix10x16_rows";
+  case 275: return "Matrix10x16_cols";
+  case 276: return "Matrix10x16_data";
+  case 277: return "Matrix10x16_zero";
+  case 278: return "Matrix10x16_fillRowMajorBuffer";
+  case 279: return "Matrix10x16_fillColMajorBuffer";
+  case 280: return "Matrix10x16_toString";
+  case 281: return "Matrix10x16_display";
+  case 282: return "Matrix10x16_toMatlab";
+  case 283: return "Matrix10x16_fromMatlab";
+  case 284: return "delete_Matrix10x16";
+  case 285: return "new_Vector3";
+  case 286: return "Vector3_paren";
+  case 287: return "Vector3_brace";
+  case 288: return "Vector3_getVal";
+  case 289: return "Vector3_setVal";
+  case 290: return "Vector3_cbegin";
+  case 291: return "Vector3_cend";
+  case 292: return "Vector3_begin";
+  case 293: return "Vector3_end";
+  case 294: return "Vector3_size";
+  case 295: return "Vector3_data";
+  case 296: return "Vector3_zero";
+  case 297: return "Vector3_fillBuffer";
+  case 298: return "Vector3_toString";
+  case 299: return "Vector3_display";
+  case 300: return "Vector3_toMatlab";
+  case 301: return "Vector3_fromMatlab";
+  case 302: return "delete_Vector3";
+  case 303: return "new_Vector4";
+  case 304: return "Vector4_paren";
+  case 305: return "Vector4_brace";
+  case 306: return "Vector4_getVal";
+  case 307: return "Vector4_setVal";
+  case 308: return "Vector4_cbegin";
+  case 309: return "Vector4_cend";
+  case 310: return "Vector4_begin";
+  case 311: return "Vector4_end";
+  case 312: return "Vector4_size";
+  case 313: return "Vector4_data";
+  case 314: return "Vector4_zero";
+  case 315: return "Vector4_fillBuffer";
+  case 316: return "Vector4_toString";
+  case 317: return "Vector4_display";
+  case 318: return "Vector4_toMatlab";
+  case 319: return "Vector4_fromMatlab";
+  case 320: return "delete_Vector4";
+  case 321: return "new_Vector6";
+  case 322: return "Vector6_paren";
+  case 323: return "Vector6_brace";
+  case 324: return "Vector6_getVal";
+  case 325: return "Vector6_setVal";
+  case 326: return "Vector6_cbegin";
+  case 327: return "Vector6_cend";
+  case 328: return "Vector6_begin";
+  case 329: return "Vector6_end";
+  case 330: return "Vector6_size";
+  case 331: return "Vector6_data";
+  case 332: return "Vector6_zero";
+  case 333: return "Vector6_fillBuffer";
+  case 334: return "Vector6_toString";
+  case 335: return "Vector6_display";
+  case 336: return "Vector6_toMatlab";
+  case 337: return "Vector6_fromMatlab";
+  case 338: return "delete_Vector6";
+  case 339: return "new_Vector10";
+  case 340: return "Vector10_paren";
+  case 341: return "Vector10_brace";
+  case 342: return "Vector10_getVal";
+  case 343: return "Vector10_setVal";
+  case 344: return "Vector10_cbegin";
+  case 345: return "Vector10_cend";
+  case 346: return "Vector10_begin";
+  case 347: return "Vector10_end";
+  case 348: return "Vector10_size";
+  case 349: return "Vector10_data";
+  case 350: return "Vector10_zero";
+  case 351: return "Vector10_fillBuffer";
+  case 352: return "Vector10_toString";
+  case 353: return "Vector10_display";
+  case 354: return "Vector10_toMatlab";
+  case 355: return "Vector10_fromMatlab";
+  case 356: return "delete_Vector10";
+  case 357: return "new_Vector16";
+  case 358: return "Vector16_paren";
+  case 359: return "Vector16_brace";
+  case 360: return "Vector16_getVal";
+  case 361: return "Vector16_setVal";
+  case 362: return "Vector16_cbegin";
+  case 363: return "Vector16_cend";
+  case 364: return "Vector16_begin";
+  case 365: return "Vector16_end";
+  case 366: return "Vector16_size";
+  case 367: return "Vector16_data";
+  case 368: return "Vector16_zero";
+  case 369: return "Vector16_fillBuffer";
+  case 370: return "Vector16_toString";
+  case 371: return "Vector16_display";
+  case 372: return "Vector16_toMatlab";
+  case 373: return "Vector16_fromMatlab";
+  case 374: return "delete_Vector16";
+  case 375: return "new_PositionRaw";
+  case 376: return "PositionRaw_changePoint";
+  case 377: return "PositionRaw_changeRefPoint";
+  case 378: return "PositionRaw_compose";
+  case 379: return "PositionRaw_inverse";
+  case 380: return "PositionRaw_changePointOf";
+  case 381: return "PositionRaw_toString";
+  case 382: return "PositionRaw_display";
+  case 383: return "delete_PositionRaw";
+  case 384: return "new_PositionSemantics";
+  case 385: return "PositionSemantics_setToUnknown";
+  case 386: return "PositionSemantics_getPoint";
+  case 387: return "PositionSemantics_getBody";
+  case 388: return "PositionSemantics_getReferencePoint";
+  case 389: return "PositionSemantics_getRefBody";
+  case 390: return "PositionSemantics_getCoordinateFrame";
+  case 391: return "PositionSemantics_setPoint";
+  case 392: return "PositionSemantics_setBody";
+  case 393: return "PositionSemantics_setReferencePoint";
+  case 394: return "PositionSemantics_setRefBody";
+  case 395: return "PositionSemantics_setCoordinateFrame";
+  case 396: return "PositionSemantics_changePoint";
+  case 397: return "PositionSemantics_changeRefPoint";
+  case 398: return "PositionSemantics_compose";
+  case 399: return "PositionSemantics_inverse";
+  case 400: return "PositionSemantics_toString";
+  case 401: return "PositionSemantics_display";
+  case 402: return "delete_PositionSemantics";
+  case 403: return "new_Position";
+  case 404: return "Position_getSemantics";
+  case 405: return "Position_changePoint";
+  case 406: return "Position_changeRefPoint";
+  case 407: return "Position_changeCoordinateFrame";
+  case 408: return "Position_compose";
+  case 409: return "Position_inverse";
+  case 410: return "Position_changePointOf";
+  case 411: return "Position_plus";
+  case 412: return "Position_minus";
+  case 413: return "Position_uminus";
+  case 414: return "Position_mtimes";
+  case 415: return "Position_toString";
+  case 416: return "Position_display";
+  case 417: return "Position_Zero";
+  case 418: return "delete_Position";
+  case 419: return "new_GeomVector3Semantics__LinearMotionVector3Semantics";
+  case 420: return "GeomVector3Semantics__LinearMotionVector3Semantics_setToUnknown";
+  case 421: return "GeomVector3Semantics__LinearMotionVector3Semantics_getBody";
+  case 422: return "GeomVector3Semantics__LinearMotionVector3Semantics_getRefBody";
+  case 423: return "GeomVector3Semantics__LinearMotionVector3Semantics_getCoordinateFrame";
+  case 424: return "GeomVector3Semantics__LinearMotionVector3Semantics_isUnknown";
+  case 425: return "GeomVector3Semantics__LinearMotionVector3Semantics_changeCoordFrame";
+  case 426: return "GeomVector3Semantics__LinearMotionVector3Semantics_compose";
+  case 427: return "GeomVector3Semantics__LinearMotionVector3Semantics_inverse";
+  case 428: return "GeomVector3Semantics__LinearMotionVector3Semantics_dot";
+  case 429: return "delete_GeomVector3Semantics__LinearMotionVector3Semantics";
+  case 430: return "new_GeomVector3Semantics__AngularMotionVector3Semantics";
+  case 431: return "GeomVector3Semantics__AngularMotionVector3Semantics_setToUnknown";
+  case 432: return "GeomVector3Semantics__AngularMotionVector3Semantics_getBody";
+  case 433: return "GeomVector3Semantics__AngularMotionVector3Semantics_getRefBody";
+  case 434: return "GeomVector3Semantics__AngularMotionVector3Semantics_getCoordinateFrame";
+  case 435: return "GeomVector3Semantics__AngularMotionVector3Semantics_isUnknown";
+  case 436: return "GeomVector3Semantics__AngularMotionVector3Semantics_changeCoordFrame";
+  case 437: return "GeomVector3Semantics__AngularMotionVector3Semantics_compose";
+  case 438: return "GeomVector3Semantics__AngularMotionVector3Semantics_inverse";
+  case 439: return "GeomVector3Semantics__AngularMotionVector3Semantics_dot";
+  case 440: return "delete_GeomVector3Semantics__AngularMotionVector3Semantics";
+  case 441: return "new_GeomVector3Semantics__LinearForceVector3Semantics";
+  case 442: return "GeomVector3Semantics__LinearForceVector3Semantics_setToUnknown";
+  case 443: return "GeomVector3Semantics__LinearForceVector3Semantics_getBody";
+  case 444: return "GeomVector3Semantics__LinearForceVector3Semantics_getRefBody";
+  case 445: return "GeomVector3Semantics__LinearForceVector3Semantics_getCoordinateFrame";
+  case 446: return "GeomVector3Semantics__LinearForceVector3Semantics_isUnknown";
+  case 447: return "GeomVector3Semantics__LinearForceVector3Semantics_changeCoordFrame";
+  case 448: return "GeomVector3Semantics__LinearForceVector3Semantics_compose";
+  case 449: return "GeomVector3Semantics__LinearForceVector3Semantics_inverse";
+  case 450: return "GeomVector3Semantics__LinearForceVector3Semantics_dot";
+  case 451: return "delete_GeomVector3Semantics__LinearForceVector3Semantics";
+  case 452: return "new_GeomVector3Semantics__AngularForceVector3Semantics";
+  case 453: return "GeomVector3Semantics__AngularForceVector3Semantics_setToUnknown";
+  case 454: return "GeomVector3Semantics__AngularForceVector3Semantics_getBody";
+  case 455: return "GeomVector3Semantics__AngularForceVector3Semantics_getRefBody";
+  case 456: return "GeomVector3Semantics__AngularForceVector3Semantics_getCoordinateFrame";
+  case 457: return "GeomVector3Semantics__AngularForceVector3Semantics_isUnknown";
+  case 458: return "GeomVector3Semantics__AngularForceVector3Semantics_changeCoordFrame";
+  case 459: return "GeomVector3Semantics__AngularForceVector3Semantics_compose";
+  case 460: return "GeomVector3Semantics__AngularForceVector3Semantics_inverse";
+  case 461: return "GeomVector3Semantics__AngularForceVector3Semantics_dot";
+  case 462: return "delete_GeomVector3Semantics__AngularForceVector3Semantics";
+  case 463: return "GeomVector3__LinearMotionVector3_semantics_get";
+  case 464: return "GeomVector3__LinearMotionVector3_semantics_set";
+  case 465: return "new_GeomVector3__LinearMotionVector3";
+  case 466: return "GeomVector3__LinearMotionVector3_setSemantics";
+  case 467: return "GeomVector3__LinearMotionVector3_changeCoordFrame";
+  case 468: return "GeomVector3__LinearMotionVector3_compose";
+  case 469: return "GeomVector3__LinearMotionVector3_inverse";
+  case 470: return "GeomVector3__LinearMotionVector3_dot";
+  case 471: return "GeomVector3__LinearMotionVector3_plus";
+  case 472: return "GeomVector3__LinearMotionVector3_minus";
+  case 473: return "GeomVector3__LinearMotionVector3_uminus";
+  case 474: return "delete_GeomVector3__LinearMotionVector3";
+  case 475: return "GeomVector3__AngularMotionVector3_semantics_get";
+  case 476: return "GeomVector3__AngularMotionVector3_semantics_set";
+  case 477: return "new_GeomVector3__AngularMotionVector3";
+  case 478: return "GeomVector3__AngularMotionVector3_setSemantics";
+  case 479: return "GeomVector3__AngularMotionVector3_changeCoordFrame";
+  case 480: return "GeomVector3__AngularMotionVector3_compose";
+  case 481: return "GeomVector3__AngularMotionVector3_inverse";
+  case 482: return "GeomVector3__AngularMotionVector3_dot";
+  case 483: return "GeomVector3__AngularMotionVector3_plus";
+  case 484: return "GeomVector3__AngularMotionVector3_minus";
+  case 485: return "GeomVector3__AngularMotionVector3_uminus";
+  case 486: return "delete_GeomVector3__AngularMotionVector3";
+  case 487: return "GeomVector3__LinearForceVector3_semantics_get";
+  case 488: return "GeomVector3__LinearForceVector3_semantics_set";
+  case 489: return "new_GeomVector3__LinearForceVector3";
+  case 490: return "GeomVector3__LinearForceVector3_setSemantics";
+  case 491: return "GeomVector3__LinearForceVector3_changeCoordFrame";
+  case 492: return "GeomVector3__LinearForceVector3_compose";
+  case 493: return "GeomVector3__LinearForceVector3_inverse";
+  case 494: return "GeomVector3__LinearForceVector3_dot";
+  case 495: return "GeomVector3__LinearForceVector3_plus";
+  case 496: return "GeomVector3__LinearForceVector3_minus";
+  case 497: return "GeomVector3__LinearForceVector3_uminus";
+  case 498: return "delete_GeomVector3__LinearForceVector3";
+  case 499: return "GeomVector3__AngularForceVector3_semantics_get";
+  case 500: return "GeomVector3__AngularForceVector3_semantics_set";
+  case 501: return "new_GeomVector3__AngularForceVector3";
+  case 502: return "GeomVector3__AngularForceVector3_setSemantics";
+  case 503: return "GeomVector3__AngularForceVector3_changeCoordFrame";
+  case 504: return "GeomVector3__AngularForceVector3_compose";
+  case 505: return "GeomVector3__AngularForceVector3_inverse";
+  case 506: return "GeomVector3__AngularForceVector3_dot";
+  case 507: return "GeomVector3__AngularForceVector3_plus";
+  case 508: return "GeomVector3__AngularForceVector3_minus";
+  case 509: return "GeomVector3__AngularForceVector3_uminus";
+  case 510: return "delete_GeomVector3__AngularForceVector3";
+  case 511: return "new_ForceVector3Semantics__LinearForceVector3Semantics";
+  case 512: return "ForceVector3Semantics__LinearForceVector3Semantics_compose";
+  case 513: return "ForceVector3Semantics__LinearForceVector3Semantics_inverse";
+  case 514: return "delete_ForceVector3Semantics__LinearForceVector3Semantics";
+  case 515: return "new_ForceVector3Semantics__AngularForceVector3Semantics";
+  case 516: return "ForceVector3Semantics__AngularForceVector3Semantics_compose";
+  case 517: return "ForceVector3Semantics__AngularForceVector3Semantics_inverse";
+  case 518: return "delete_ForceVector3Semantics__AngularForceVector3Semantics";
+  case 519: return "new_MotionVector3__LinearMotionVector3";
+  case 520: return "MotionVector3__LinearMotionVector3_cross";
+  case 521: return "delete_MotionVector3__LinearMotionVector3";
+  case 522: return "new_MotionVector3__AngularMotionVector3";
+  case 523: return "MotionVector3__AngularMotionVector3_cross";
+  case 524: return "delete_MotionVector3__AngularMotionVector3";
+  case 525: return "new_ForceVector3__LinearForceVector3";
+  case 526: return "delete_ForceVector3__LinearForceVector3";
+  case 527: return "new_ForceVector3__AngularForceVector3";
+  case 528: return "delete_ForceVector3__AngularForceVector3";
+  case 529: return "new_LinearMotionVector3Semantics";
+  case 530: return "LinearMotionVector3Semantics_changePoint";
+  case 531: return "LinearMotionVector3Semantics_compose";
+  case 532: return "delete_LinearMotionVector3Semantics";
+  case 533: return "new_LinearMotionVector3";
+  case 534: return "LinearMotionVector3_changePoint";
+  case 535: return "delete_LinearMotionVector3";
+  case 536: return "new_AngularMotionVector3Semantics";
+  case 537: return "delete_AngularMotionVector3Semantics";
+  case 538: return "new_AngularMotionVector3";
+  case 539: return "AngularMotionVector3_exp";
+  case 540: return "delete_AngularMotionVector3";
+  case 541: return "new_LinearForceVector3Semantics";
+  case 542: return "delete_LinearForceVector3Semantics";
+  case 543: return "new_LinearForceVector3";
+  case 544: return "delete_LinearForceVector3";
+  case 545: return "new_AngularForceVector3Semantics";
+  case 546: return "AngularForceVector3Semantics_changePoint";
+  case 547: return "AngularForceVector3Semantics_compose";
+  case 548: return "delete_AngularForceVector3Semantics";
+  case 549: return "new_AngularForceVector3";
+  case 550: return "AngularForceVector3_changePoint";
+  case 551: return "delete_AngularForceVector3";
+  case 552: return "new_SpatialMotionVectorSemanticsBase";
+  case 553: return "SpatialMotionVectorSemanticsBase_check_linear2angularConsistency";
+  case 554: return "SpatialMotionVectorSemanticsBase_toString";
+  case 555: return "SpatialMotionVectorSemanticsBase_display";
+  case 556: return "delete_SpatialMotionVectorSemanticsBase";
+  case 557: return "new_SpatialForceVectorSemanticsBase";
+  case 558: return "SpatialForceVectorSemanticsBase_check_linear2angularConsistency";
+  case 559: return "SpatialForceVectorSemanticsBase_toString";
+  case 560: return "SpatialForceVectorSemanticsBase_display";
+  case 561: return "delete_SpatialForceVectorSemanticsBase";
+  case 562: return "new_SpatialMotionVectorBase";
+  case 563: return "SpatialMotionVectorBase_getLinearVec3";
+  case 564: return "SpatialMotionVectorBase_getAngularVec3";
+  case 565: return "SpatialMotionVectorBase_setLinearVec3";
+  case 566: return "SpatialMotionVectorBase_setAngularVec3";
+  case 567: return "SpatialMotionVectorBase_paren";
+  case 568: return "SpatialMotionVectorBase_getVal";
+  case 569: return "SpatialMotionVectorBase_setVal";
+  case 570: return "SpatialMotionVectorBase_size";
+  case 571: return "SpatialMotionVectorBase_zero";
+  case 572: return "SpatialMotionVectorBase_changePoint";
+  case 573: return "SpatialMotionVectorBase_changeCoordFrame";
+  case 574: return "SpatialMotionVectorBase_compose";
+  case 575: return "SpatialMotionVectorBase_inverse";
+  case 576: return "SpatialMotionVectorBase_dot";
+  case 577: return "SpatialMotionVectorBase_plus";
+  case 578: return "SpatialMotionVectorBase_minus";
+  case 579: return "SpatialMotionVectorBase_uminus";
+  case 580: return "SpatialMotionVectorBase_Zero";
+  case 581: return "SpatialMotionVectorBase_asVector";
+  case 582: return "SpatialMotionVectorBase_toString";
+  case 583: return "SpatialMotionVectorBase_display";
+  case 584: return "SpatialMotionVectorBase_toMatlab";
+  case 585: return "SpatialMotionVectorBase_fromMatlab";
+  case 586: return "delete_SpatialMotionVectorBase";
+  case 587: return "new_SpatialForceVectorBase";
+  case 588: return "SpatialForceVectorBase_getLinearVec3";
+  case 589: return "SpatialForceVectorBase_getAngularVec3";
+  case 590: return "SpatialForceVectorBase_setLinearVec3";
+  case 591: return "SpatialForceVectorBase_setAngularVec3";
+  case 592: return "SpatialForceVectorBase_paren";
+  case 593: return "SpatialForceVectorBase_getVal";
+  case 594: return "SpatialForceVectorBase_setVal";
+  case 595: return "SpatialForceVectorBase_size";
+  case 596: return "SpatialForceVectorBase_zero";
+  case 597: return "SpatialForceVectorBase_changePoint";
+  case 598: return "SpatialForceVectorBase_changeCoordFrame";
+  case 599: return "SpatialForceVectorBase_compose";
+  case 600: return "SpatialForceVectorBase_inverse";
+  case 601: return "SpatialForceVectorBase_dot";
+  case 602: return "SpatialForceVectorBase_plus";
+  case 603: return "SpatialForceVectorBase_minus";
+  case 604: return "SpatialForceVectorBase_uminus";
+  case 605: return "SpatialForceVectorBase_Zero";
+  case 606: return "SpatialForceVectorBase_asVector";
+  case 607: return "SpatialForceVectorBase_toString";
+  case 608: return "SpatialForceVectorBase_display";
+  case 609: return "SpatialForceVectorBase_toMatlab";
+  case 610: return "SpatialForceVectorBase_fromMatlab";
+  case 611: return "delete_SpatialForceVectorBase";
+  case 612: return "new_Dummy";
+  case 613: return "delete_Dummy";
+  case 614: return "new_SpatialMotionVector";
+  case 615: return "SpatialMotionVector_mtimes";
+  case 616: return "SpatialMotionVector_cross";
+  case 617: return "SpatialMotionVector_asCrossProductMatrix";
+  case 618: return "SpatialMotionVector_asCrossProductMatrixWrench";
+  case 619: return "SpatialMotionVector_exp";
+  case 620: return "delete_SpatialMotionVector";
+  case 621: return "new_SpatialForceVector";
+  case 622: return "delete_SpatialForceVector";
+  case 623: return "SpatialForceVector_mtimes";
+  case 624: return "new_Twist";
+  case 625: return "Twist_plus";
+  case 626: return "Twist_minus";
+  case 627: return "Twist_uminus";
+  case 628: return "Twist_mtimes";
+  case 629: return "delete_Twist";
+  case 630: return "new_Wrench";
+  case 631: return "Wrench_plus";
+  case 632: return "Wrench_minus";
+  case 633: return "Wrench_uminus";
+  case 634: return "delete_Wrench";
+  case 635: return "new_SpatialMomentum";
+  case 636: return "SpatialMomentum_plus";
+  case 637: return "SpatialMomentum_minus";
+  case 638: return "SpatialMomentum_uminus";
+  case 639: return "delete_SpatialMomentum";
+  case 640: return "new_SpatialAcc";
+  case 641: return "SpatialAcc_plus";
+  case 642: return "SpatialAcc_minus";
+  case 643: return "SpatialAcc_uminus";
+  case 644: return "delete_SpatialAcc";
+  case 645: return "new_ClassicalAcc";
+  case 646: return "ClassicalAcc_changeCoordFrame";
+  case 647: return "ClassicalAcc_Zero";
+  case 648: return "ClassicalAcc_fromSpatial";
+  case 649: return "ClassicalAcc_toSpatial";
+  case 650: return "delete_ClassicalAcc";
+  case 651: return "new_Direction";
+  case 652: return "Direction_Normalize";
+  case 653: return "Direction_isParallel";
+  case 654: return "Direction_isPerpendicular";
+  case 655: return "Direction_reverse";
+  case 656: return "Direction_toString";
+  case 657: return "Direction_display";
+  case 658: return "Direction_Default";
+  case 659: return "delete_Direction";
+  case 660: return "new_Axis";
+  case 661: return "Axis_getDirection";
+  case 662: return "Axis_getOrigin";
+  case 663: return "Axis_setDirection";
+  case 664: return "Axis_setOrigin";
+  case 665: return "Axis_getRotationTransform";
+  case 666: return "Axis_getRotationTransformDerivative";
+  case 667: return "Axis_getRotationTwist";
+  case 668: return "Axis_getRotationSpatialAcc";
+  case 669: return "Axis_getTranslationTransform";
+  case 670: return "Axis_getTranslationTransformDerivative";
+  case 671: return "Axis_getTranslationTwist";
+  case 672: return "Axis_getTranslationSpatialAcc";
+  case 673: return "Axis_isParallel";
+  case 674: return "Axis_reverse";
+  case 675: return "Axis_toString";
+  case 676: return "Axis_display";
+  case 677: return "delete_Axis";
+  case 678: return "new_RotationalInertiaRaw";
+  case 679: return "RotationalInertiaRaw_Zero";
+  case 680: return "delete_RotationalInertiaRaw";
+  case 681: return "new_SpatialInertiaRaw";
+  case 682: return "SpatialInertiaRaw_fromRotationalInertiaWrtCenterOfMass";
+  case 683: return "SpatialInertiaRaw_getMass";
+  case 684: return "SpatialInertiaRaw_getCenterOfMass";
+  case 685: return "SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin";
+  case 686: return "SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass";
+  case 687: return "SpatialInertiaRaw_combine";
+  case 688: return "SpatialInertiaRaw_multiply";
+  case 689: return "SpatialInertiaRaw_zero";
+  case 690: return "delete_SpatialInertiaRaw";
+  case 691: return "new_SpatialInertia";
+  case 692: return "SpatialInertia_combine";
+  case 693: return "SpatialInertia_asMatrix";
+  case 694: return "SpatialInertia_applyInverse";
+  case 695: return "SpatialInertia_getInverse";
+  case 696: return "SpatialInertia_plus";
+  case 697: return "SpatialInertia_mtimes";
+  case 698: return "SpatialInertia_biasWrench";
+  case 699: return "SpatialInertia_biasWrenchDerivative";
+  case 700: return "SpatialInertia_Zero";
+  case 701: return "SpatialInertia_asVector";
+  case 702: return "SpatialInertia_fromVector";
+  case 703: return "SpatialInertia_isPhysicallyConsistent";
+  case 704: return "SpatialInertia_momentumRegressor";
+  case 705: return "SpatialInertia_momentumDerivativeRegressor";
+  case 706: return "SpatialInertia_momentumDerivativeSlotineLiRegressor";
+  case 707: return "delete_SpatialInertia";
+  case 708: return "new_ArticulatedBodyInertia";
+  case 709: return "ArticulatedBodyInertia_getLinearLinearSubmatrix";
+  case 710: return "ArticulatedBodyInertia_getLinearAngularSubmatrix";
+  case 711: return "ArticulatedBodyInertia_getAngularAngularSubmatrix";
+  case 712: return "ArticulatedBodyInertia_combine";
+  case 713: return "ArticulatedBodyInertia_applyInverse";
+  case 714: return "ArticulatedBodyInertia_asMatrix";
+  case 715: return "ArticulatedBodyInertia_getInverse";
+  case 716: return "ArticulatedBodyInertia_plus";
+  case 717: return "ArticulatedBodyInertia_minus";
+  case 718: return "ArticulatedBodyInertia_mtimes";
+  case 719: return "ArticulatedBodyInertia_zero";
+  case 720: return "ArticulatedBodyInertia_ABADyadHelper";
+  case 721: return "ArticulatedBodyInertia_ABADyadHelperLin";
+  case 722: return "delete_ArticulatedBodyInertia";
+  case 723: return "RigidBodyInertiaNonLinearParametrization_mass_get";
+  case 724: return "RigidBodyInertiaNonLinearParametrization_mass_set";
+  case 725: return "RigidBodyInertiaNonLinearParametrization_com_get";
+  case 726: return "RigidBodyInertiaNonLinearParametrization_com_set";
+  case 727: return "RigidBodyInertiaNonLinearParametrization_link_R_centroidal_get";
+  case 728: return "RigidBodyInertiaNonLinearParametrization_link_R_centroidal_set";
+  case 729: return "RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_get";
+  case 730: return "RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_set";
+  case 731: return "RigidBodyInertiaNonLinearParametrization_getLinkCentroidalTransform";
+  case 732: return "RigidBodyInertiaNonLinearParametrization_fromRigidBodyInertia";
+  case 733: return "RigidBodyInertiaNonLinearParametrization_fromInertialParameters";
+  case 734: return "RigidBodyInertiaNonLinearParametrization_toRigidBodyInertia";
+  case 735: return "RigidBodyInertiaNonLinearParametrization_isPhysicallyConsistent";
+  case 736: return "RigidBodyInertiaNonLinearParametrization_asVectorWithRotationAsVec";
+  case 737: return "RigidBodyInertiaNonLinearParametrization_fromVectorWithRotationAsVec";
+  case 738: return "RigidBodyInertiaNonLinearParametrization_getGradientWithRotationAsVec";
+  case 739: return "new_RigidBodyInertiaNonLinearParametrization";
+  case 740: return "delete_RigidBodyInertiaNonLinearParametrization";
+  case 741: return "new_RotationRaw";
+  case 742: return "RotationRaw_changeOrientFrame";
+  case 743: return "RotationRaw_changeRefOrientFrame";
+  case 744: return "RotationRaw_compose";
+  case 745: return "RotationRaw_inverse2";
+  case 746: return "RotationRaw_changeCoordFrameOf";
+  case 747: return "RotationRaw_RotX";
+  case 748: return "RotationRaw_RotY";
+  case 749: return "RotationRaw_RotZ";
+  case 750: return "RotationRaw_RPY";
+  case 751: return "RotationRaw_Identity";
+  case 752: return "RotationRaw_toString";
+  case 753: return "RotationRaw_display";
+  case 754: return "delete_RotationRaw";
+  case 755: return "new_RotationSemantics";
+  case 756: return "RotationSemantics_setToUnknown";
+  case 757: return "RotationSemantics_getOrientationFrame";
+  case 758: return "RotationSemantics_getBody";
+  case 759: return "RotationSemantics_getReferenceOrientationFrame";
+  case 760: return "RotationSemantics_getRefBody";
+  case 761: return "RotationSemantics_getCoordinateFrame";
+  case 762: return "RotationSemantics_setOrientationFrame";
+  case 763: return "RotationSemantics_setBody";
+  case 764: return "RotationSemantics_setReferenceOrientationFrame";
+  case 765: return "RotationSemantics_setRefBody";
+  case 766: return "RotationSemantics_setCoordinateFrame";
+  case 767: return "RotationSemantics_changeOrientFrame";
+  case 768: return "RotationSemantics_changeRefOrientFrame";
+  case 769: return "RotationSemantics_changeCoordFrameOf";
+  case 770: return "RotationSemantics_compose";
+  case 771: return "RotationSemantics_inverse2";
+  case 772: return "RotationSemantics_toString";
+  case 773: return "RotationSemantics_display";
+  case 774: return "delete_RotationSemantics";
+  case 775: return "new_Rotation";
+  case 776: return "Rotation_getSemantics";
+  case 777: return "Rotation_changeOrientFrame";
+  case 778: return "Rotation_changeRefOrientFrame";
+  case 779: return "Rotation_changeCoordinateFrame";
+  case 780: return "Rotation_compose";
+  case 781: return "Rotation_inverse2";
+  case 782: return "Rotation_changeCoordFrameOf";
+  case 783: return "Rotation_inverse";
+  case 784: return "Rotation_mtimes";
+  case 785: return "Rotation_log";
+  case 786: return "Rotation_fromQuaternion";
+  case 787: return "Rotation_getRPY";
+  case 788: return "Rotation_asRPY";
+  case 789: return "Rotation_getQuaternion";
+  case 790: return "Rotation_asQuaternion";
+  case 791: return "Rotation_RotX";
+  case 792: return "Rotation_RotY";
+  case 793: return "Rotation_RotZ";
+  case 794: return "Rotation_RotAxis";
+  case 795: return "Rotation_RotAxisDerivative";
+  case 796: return "Rotation_RPY";
+  case 797: return "Rotation_RPYRightTrivializedDerivative";
+  case 798: return "Rotation_RPYRightTrivializedDerivativeRateOfChange";
+  case 799: return "Rotation_RPYRightTrivializedDerivativeInverse";
+  case 800: return "Rotation_RPYRightTrivializedDerivativeInverseRateOfChange";
+  case 801: return "Rotation_QuaternionRightTrivializedDerivative";
+  case 802: return "Rotation_QuaternionRightTrivializedDerivativeInverse";
+  case 803: return "Rotation_Identity";
+  case 804: return "Rotation_RotationFromQuaternion";
+  case 805: return "Rotation_leftJacobian";
+  case 806: return "Rotation_leftJacobianInverse";
+  case 807: return "Rotation_toString";
+  case 808: return "Rotation_display";
+  case 809: return "delete_Rotation";
+  case 810: return "new_TransformSemantics";
+  case 811: return "TransformSemantics_getRotationSemantics";
+  case 812: return "TransformSemantics_getPositionSemantics";
+  case 813: return "TransformSemantics_setRotationSemantics";
+  case 814: return "TransformSemantics_setPositionSemantics";
+  case 815: return "TransformSemantics_toString";
+  case 816: return "TransformSemantics_display";
+  case 817: return "delete_TransformSemantics";
+  case 818: return "new_Transform";
+  case 819: return "Transform_fromHomogeneousTransform";
+  case 820: return "Transform_getSemantics";
+  case 821: return "Transform_getRotation";
+  case 822: return "Transform_getPosition";
+  case 823: return "Transform_setRotation";
+  case 824: return "Transform_setPosition";
+  case 825: return "Transform_compose";
+  case 826: return "Transform_inverse2";
+  case 827: return "Transform_inverse";
+  case 828: return "Transform_mtimes";
+  case 829: return "Transform_Identity";
+  case 830: return "Transform_asHomogeneousTransform";
+  case 831: return "Transform_asAdjointTransform";
+  case 832: return "Transform_asAdjointTransformWrench";
+  case 833: return "Transform_log";
+  case 834: return "Transform_toString";
+  case 835: return "Transform_display";
+  case 836: return "delete_Transform";
+  case 837: return "new_TransformDerivative";
+  case 838: return "delete_TransformDerivative";
+  case 839: return "TransformDerivative_getRotationDerivative";
+  case 840: return "TransformDerivative_getPositionDerivative";
+  case 841: return "TransformDerivative_setRotationDerivative";
+  case 842: return "TransformDerivative_setPositionDerivative";
+  case 843: return "TransformDerivative_Zero";
+  case 844: return "TransformDerivative_asHomogeneousTransformDerivative";
+  case 845: return "TransformDerivative_asAdjointTransformDerivative";
+  case 846: return "TransformDerivative_asAdjointTransformWrenchDerivative";
+  case 847: return "TransformDerivative_mtimes";
+  case 848: return "TransformDerivative_derivativeOfInverse";
+  case 849: return "TransformDerivative_transform";
+  case 850: return "dynamic_extent_get";
+  case 851: return "DynamicSpan_extent_get";
+  case 852: return "new_DynamicSpan";
+  case 853: return "delete_DynamicSpan";
+  case 854: return "DynamicSpan_first";
+  case 855: return "DynamicSpan_last";
+  case 856: return "DynamicSpan_subspan";
+  case 857: return "DynamicSpan_size";
+  case 858: return "DynamicSpan_size_bytes";
+  case 859: return "DynamicSpan_empty";
+  case 860: return "DynamicSpan_brace";
+  case 861: return "DynamicSpan_getVal";
+  case 862: return "DynamicSpan_setVal";
+  case 863: return "DynamicSpan_at";
+  case 864: return "DynamicSpan_paren";
+  case 865: return "DynamicSpan_begin";
+  case 866: return "DynamicSpan_end";
+  case 867: return "DynamicSpan_cbegin";
+  case 868: return "DynamicSpan_cend";
+  case 869: return "DynamicSpan_rbegin";
+  case 870: return "DynamicSpan_rend";
+  case 871: return "DynamicSpan_crbegin";
+  case 872: return "DynamicSpan_crend";
+  case 873: return "LINK_INVALID_INDEX_get";
+  case 874: return "LINK_INVALID_INDEX_set";
+  case 875: return "LINK_INVALID_NAME_get";
+  case 876: return "LINK_INVALID_NAME_set";
+  case 877: return "JOINT_INVALID_INDEX_get";
+  case 878: return "JOINT_INVALID_INDEX_set";
+  case 879: return "JOINT_INVALID_NAME_get";
+  case 880: return "JOINT_INVALID_NAME_set";
+  case 881: return "DOF_INVALID_INDEX_get";
+  case 882: return "DOF_INVALID_INDEX_set";
+  case 883: return "DOF_INVALID_NAME_get";
+  case 884: return "DOF_INVALID_NAME_set";
+  case 885: return "FRAME_INVALID_INDEX_get";
+  case 886: return "FRAME_INVALID_INDEX_set";
+  case 887: return "FRAME_INVALID_NAME_get";
+  case 888: return "FRAME_INVALID_NAME_set";
+  case 889: return "TRAVERSAL_INVALID_INDEX_get";
+  case 890: return "TRAVERSAL_INVALID_INDEX_set";
+  case 891: return "new_LinkPositions";
+  case 892: return "LinkPositions_resize";
+  case 893: return "LinkPositions_isConsistent";
+  case 894: return "LinkPositions_getNrOfLinks";
+  case 895: return "LinkPositions_paren";
+  case 896: return "LinkPositions_toString";
+  case 897: return "delete_LinkPositions";
+  case 898: return "new_LinkWrenches";
+  case 899: return "LinkWrenches_resize";
+  case 900: return "LinkWrenches_isConsistent";
+  case 901: return "LinkWrenches_getNrOfLinks";
+  case 902: return "LinkWrenches_paren";
+  case 903: return "LinkWrenches_toString";
+  case 904: return "LinkWrenches_zero";
+  case 905: return "delete_LinkWrenches";
+  case 906: return "new_LinkInertias";
+  case 907: return "LinkInertias_resize";
+  case 908: return "LinkInertias_isConsistent";
+  case 909: return "LinkInertias_paren";
+  case 910: return "delete_LinkInertias";
+  case 911: return "new_LinkArticulatedBodyInertias";
+  case 912: return "LinkArticulatedBodyInertias_resize";
+  case 913: return "LinkArticulatedBodyInertias_isConsistent";
+  case 914: return "LinkArticulatedBodyInertias_paren";
+  case 915: return "delete_LinkArticulatedBodyInertias";
+  case 916: return "new_LinkVelArray";
+  case 917: return "LinkVelArray_resize";
+  case 918: return "LinkVelArray_isConsistent";
+  case 919: return "LinkVelArray_getNrOfLinks";
+  case 920: return "LinkVelArray_paren";
+  case 921: return "LinkVelArray_toString";
+  case 922: return "delete_LinkVelArray";
+  case 923: return "new_LinkAccArray";
+  case 924: return "LinkAccArray_resize";
+  case 925: return "LinkAccArray_isConsistent";
+  case 926: return "LinkAccArray_paren";
+  case 927: return "LinkAccArray_getNrOfLinks";
+  case 928: return "LinkAccArray_toString";
+  case 929: return "delete_LinkAccArray";
+  case 930: return "new_Link";
+  case 931: return "Link_inertia";
+  case 932: return "Link_setInertia";
+  case 933: return "Link_getInertia";
+  case 934: return "Link_setIndex";
+  case 935: return "Link_getIndex";
+  case 936: return "delete_Link";
+  case 937: return "delete_IJoint";
+  case 938: return "IJoint_clone";
+  case 939: return "IJoint_getNrOfPosCoords";
+  case 940: return "IJoint_getNrOfDOFs";
+  case 941: return "IJoint_setAttachedLinks";
+  case 942: return "IJoint_setRestTransform";
+  case 943: return "IJoint_getFirstAttachedLink";
+  case 944: return "IJoint_getSecondAttachedLink";
+  case 945: return "IJoint_getRestTransform";
+  case 946: return "IJoint_getTransform";
+  case 947: return "IJoint_getTransformDerivative";
+  case 948: return "IJoint_getMotionSubspaceVector";
+  case 949: return "IJoint_computeChildPosVelAcc";
+  case 950: return "IJoint_computeChildVelAcc";
+  case 951: return "IJoint_computeChildVel";
+  case 952: return "IJoint_computeChildAcc";
+  case 953: return "IJoint_computeChildBiasAcc";
+  case 954: return "IJoint_computeJointTorque";
+  case 955: return "IJoint_setIndex";
+  case 956: return "IJoint_getIndex";
+  case 957: return "IJoint_setPosCoordsOffset";
+  case 958: return "IJoint_getPosCoordsOffset";
+  case 959: return "IJoint_setDOFsOffset";
+  case 960: return "IJoint_getDOFsOffset";
+  case 961: return "IJoint_hasPosLimits";
+  case 962: return "IJoint_enablePosLimits";
+  case 963: return "IJoint_getPosLimits";
+  case 964: return "IJoint_getMinPosLimit";
+  case 965: return "IJoint_getMaxPosLimit";
+  case 966: return "IJoint_setPosLimits";
+  case 967: return "IJoint_isRevoluteJoint";
+  case 968: return "IJoint_isFixedJoint";
+  case 969: return "IJoint_asRevoluteJoint";
+  case 970: return "IJoint_asFixedJoint";
+  case 971: return "new_FixedJoint";
+  case 972: return "delete_FixedJoint";
+  case 973: return "FixedJoint_clone";
+  case 974: return "FixedJoint_getNrOfPosCoords";
+  case 975: return "FixedJoint_getNrOfDOFs";
+  case 976: return "FixedJoint_setAttachedLinks";
+  case 977: return "FixedJoint_setRestTransform";
+  case 978: return "FixedJoint_getFirstAttachedLink";
+  case 979: return "FixedJoint_getSecondAttachedLink";
+  case 980: return "FixedJoint_getRestTransform";
+  case 981: return "FixedJoint_getTransform";
+  case 982: return "FixedJoint_getTransformDerivative";
+  case 983: return "FixedJoint_getMotionSubspaceVector";
+  case 984: return "FixedJoint_computeChildPosVelAcc";
+  case 985: return "FixedJoint_computeChildVelAcc";
+  case 986: return "FixedJoint_computeChildVel";
+  case 987: return "FixedJoint_computeChildAcc";
+  case 988: return "FixedJoint_computeChildBiasAcc";
+  case 989: return "FixedJoint_computeJointTorque";
+  case 990: return "FixedJoint_setIndex";
+  case 991: return "FixedJoint_getIndex";
+  case 992: return "FixedJoint_setPosCoordsOffset";
+  case 993: return "FixedJoint_getPosCoordsOffset";
+  case 994: return "FixedJoint_setDOFsOffset";
+  case 995: return "FixedJoint_getDOFsOffset";
+  case 996: return "FixedJoint_hasPosLimits";
+  case 997: return "FixedJoint_enablePosLimits";
+  case 998: return "FixedJoint_getPosLimits";
+  case 999: return "FixedJoint_getMinPosLimit";
+  case 1000: return "FixedJoint_getMaxPosLimit";
+  case 1001: return "FixedJoint_setPosLimits";
+  case 1002: return "delete_MovableJointImpl1";
+  case 1003: return "MovableJointImpl1_getNrOfPosCoords";
+  case 1004: return "MovableJointImpl1_getNrOfDOFs";
+  case 1005: return "MovableJointImpl1_setIndex";
+  case 1006: return "MovableJointImpl1_getIndex";
+  case 1007: return "MovableJointImpl1_setPosCoordsOffset";
+  case 1008: return "MovableJointImpl1_getPosCoordsOffset";
+  case 1009: return "MovableJointImpl1_setDOFsOffset";
+  case 1010: return "MovableJointImpl1_getDOFsOffset";
+  case 1011: return "delete_MovableJointImpl2";
+  case 1012: return "MovableJointImpl2_getNrOfPosCoords";
+  case 1013: return "MovableJointImpl2_getNrOfDOFs";
+  case 1014: return "MovableJointImpl2_setIndex";
+  case 1015: return "MovableJointImpl2_getIndex";
+  case 1016: return "MovableJointImpl2_setPosCoordsOffset";
+  case 1017: return "MovableJointImpl2_getPosCoordsOffset";
+  case 1018: return "MovableJointImpl2_setDOFsOffset";
+  case 1019: return "MovableJointImpl2_getDOFsOffset";
+  case 1020: return "delete_MovableJointImpl3";
+  case 1021: return "MovableJointImpl3_getNrOfPosCoords";
+  case 1022: return "MovableJointImpl3_getNrOfDOFs";
+  case 1023: return "MovableJointImpl3_setIndex";
+  case 1024: return "MovableJointImpl3_getIndex";
+  case 1025: return "MovableJointImpl3_setPosCoordsOffset";
+  case 1026: return "MovableJointImpl3_getPosCoordsOffset";
+  case 1027: return "MovableJointImpl3_setDOFsOffset";
+  case 1028: return "MovableJointImpl3_getDOFsOffset";
+  case 1029: return "delete_MovableJointImpl4";
+  case 1030: return "MovableJointImpl4_getNrOfPosCoords";
+  case 1031: return "MovableJointImpl4_getNrOfDOFs";
+  case 1032: return "MovableJointImpl4_setIndex";
+  case 1033: return "MovableJointImpl4_getIndex";
+  case 1034: return "MovableJointImpl4_setPosCoordsOffset";
+  case 1035: return "MovableJointImpl4_getPosCoordsOffset";
+  case 1036: return "MovableJointImpl4_setDOFsOffset";
+  case 1037: return "MovableJointImpl4_getDOFsOffset";
+  case 1038: return "delete_MovableJointImpl5";
+  case 1039: return "MovableJointImpl5_getNrOfPosCoords";
+  case 1040: return "MovableJointImpl5_getNrOfDOFs";
+  case 1041: return "MovableJointImpl5_setIndex";
+  case 1042: return "MovableJointImpl5_getIndex";
+  case 1043: return "MovableJointImpl5_setPosCoordsOffset";
+  case 1044: return "MovableJointImpl5_getPosCoordsOffset";
+  case 1045: return "MovableJointImpl5_setDOFsOffset";
+  case 1046: return "MovableJointImpl5_getDOFsOffset";
+  case 1047: return "delete_MovableJointImpl6";
+  case 1048: return "MovableJointImpl6_getNrOfPosCoords";
+  case 1049: return "MovableJointImpl6_getNrOfDOFs";
+  case 1050: return "MovableJointImpl6_setIndex";
+  case 1051: return "MovableJointImpl6_getIndex";
+  case 1052: return "MovableJointImpl6_setPosCoordsOffset";
+  case 1053: return "MovableJointImpl6_getPosCoordsOffset";
+  case 1054: return "MovableJointImpl6_setDOFsOffset";
+  case 1055: return "MovableJointImpl6_getDOFsOffset";
+  case 1056: return "new_RevoluteJoint";
+  case 1057: return "delete_RevoluteJoint";
+  case 1058: return "RevoluteJoint_clone";
+  case 1059: return "RevoluteJoint_setAttachedLinks";
+  case 1060: return "RevoluteJoint_setRestTransform";
+  case 1061: return "RevoluteJoint_setAxis";
+  case 1062: return "RevoluteJoint_getFirstAttachedLink";
+  case 1063: return "RevoluteJoint_getSecondAttachedLink";
+  case 1064: return "RevoluteJoint_getAxis";
+  case 1065: return "RevoluteJoint_getRestTransform";
+  case 1066: return "RevoluteJoint_getTransform";
+  case 1067: return "RevoluteJoint_getTransformDerivative";
+  case 1068: return "RevoluteJoint_getMotionSubspaceVector";
+  case 1069: return "RevoluteJoint_computeChildPosVelAcc";
+  case 1070: return "RevoluteJoint_computeChildVel";
+  case 1071: return "RevoluteJoint_computeChildVelAcc";
+  case 1072: return "RevoluteJoint_computeChildAcc";
+  case 1073: return "RevoluteJoint_computeChildBiasAcc";
+  case 1074: return "RevoluteJoint_computeJointTorque";
+  case 1075: return "RevoluteJoint_hasPosLimits";
+  case 1076: return "RevoluteJoint_enablePosLimits";
+  case 1077: return "RevoluteJoint_getPosLimits";
+  case 1078: return "RevoluteJoint_getMinPosLimit";
+  case 1079: return "RevoluteJoint_getMaxPosLimit";
+  case 1080: return "RevoluteJoint_setPosLimits";
+  case 1081: return "new_PrismaticJoint";
+  case 1082: return "delete_PrismaticJoint";
+  case 1083: return "PrismaticJoint_clone";
+  case 1084: return "PrismaticJoint_setAttachedLinks";
+  case 1085: return "PrismaticJoint_setRestTransform";
+  case 1086: return "PrismaticJoint_setAxis";
+  case 1087: return "PrismaticJoint_getFirstAttachedLink";
+  case 1088: return "PrismaticJoint_getSecondAttachedLink";
+  case 1089: return "PrismaticJoint_getAxis";
+  case 1090: return "PrismaticJoint_getRestTransform";
+  case 1091: return "PrismaticJoint_getTransform";
+  case 1092: return "PrismaticJoint_getTransformDerivative";
+  case 1093: return "PrismaticJoint_getMotionSubspaceVector";
+  case 1094: return "PrismaticJoint_computeChildPosVelAcc";
+  case 1095: return "PrismaticJoint_computeChildVel";
+  case 1096: return "PrismaticJoint_computeChildVelAcc";
+  case 1097: return "PrismaticJoint_computeChildAcc";
+  case 1098: return "PrismaticJoint_computeChildBiasAcc";
+  case 1099: return "PrismaticJoint_computeJointTorque";
+  case 1100: return "PrismaticJoint_hasPosLimits";
+  case 1101: return "PrismaticJoint_enablePosLimits";
+  case 1102: return "PrismaticJoint_getPosLimits";
+  case 1103: return "PrismaticJoint_getMinPosLimit";
+  case 1104: return "PrismaticJoint_getMaxPosLimit";
+  case 1105: return "PrismaticJoint_setPosLimits";
+  case 1106: return "new_Traversal";
+  case 1107: return "delete_Traversal";
+  case 1108: return "Traversal_getNrOfVisitedLinks";
+  case 1109: return "Traversal_getLink";
+  case 1110: return "Traversal_getBaseLink";
+  case 1111: return "Traversal_getParentLink";
+  case 1112: return "Traversal_getParentJoint";
+  case 1113: return "Traversal_getParentLinkFromLinkIndex";
+  case 1114: return "Traversal_getParentJointFromLinkIndex";
+  case 1115: return "Traversal_getTraversalIndexFromLinkIndex";
+  case 1116: return "Traversal_reset";
+  case 1117: return "Traversal_addTraversalBase";
+  case 1118: return "Traversal_addTraversalElement";
+  case 1119: return "Traversal_isParentOf";
+  case 1120: return "Traversal_getChildLinkIndexFromJointIndex";
+  case 1121: return "Traversal_getParentLinkIndexFromJointIndex";
+  case 1122: return "Traversal_toString";
+  case 1123: return "delete_SolidShape";
+  case 1124: return "SolidShape_clone";
+  case 1125: return "SolidShape_name_get";
+  case 1126: return "SolidShape_name_set";
+  case 1127: return "SolidShape_nameIsValid_get";
+  case 1128: return "SolidShape_nameIsValid_set";
+  case 1129: return "SolidShape_link_H_geometry_get";
+  case 1130: return "SolidShape_link_H_geometry_set";
+  case 1131: return "SolidShape_material_get";
+  case 1132: return "SolidShape_material_set";
+  case 1133: return "SolidShape_isSphere";
+  case 1134: return "SolidShape_isBox";
+  case 1135: return "SolidShape_isCylinder";
+  case 1136: return "SolidShape_isExternalMesh";
+  case 1137: return "SolidShape_asSphere";
+  case 1138: return "SolidShape_asBox";
+  case 1139: return "SolidShape_asCylinder";
+  case 1140: return "SolidShape_asExternalMesh";
+  case 1141: return "delete_Sphere";
+  case 1142: return "Sphere_clone";
+  case 1143: return "Sphere_radius_get";
+  case 1144: return "Sphere_radius_set";
+  case 1145: return "new_Sphere";
+  case 1146: return "delete_Box";
+  case 1147: return "Box_clone";
+  case 1148: return "Box_x_get";
+  case 1149: return "Box_x_set";
+  case 1150: return "Box_y_get";
+  case 1151: return "Box_y_set";
+  case 1152: return "Box_z_get";
+  case 1153: return "Box_z_set";
+  case 1154: return "new_Box";
+  case 1155: return "delete_Cylinder";
+  case 1156: return "Cylinder_clone";
+  case 1157: return "Cylinder_length_get";
+  case 1158: return "Cylinder_length_set";
+  case 1159: return "Cylinder_radius_get";
+  case 1160: return "Cylinder_radius_set";
+  case 1161: return "new_Cylinder";
+  case 1162: return "delete_ExternalMesh";
+  case 1163: return "ExternalMesh_clone";
+  case 1164: return "ExternalMesh_filename_get";
+  case 1165: return "ExternalMesh_filename_set";
+  case 1166: return "ExternalMesh_scale_get";
+  case 1167: return "ExternalMesh_scale_set";
+  case 1168: return "new_ExternalMesh";
+  case 1169: return "new_ModelSolidShapes";
+  case 1170: return "ModelSolidShapes_clear";
+  case 1171: return "delete_ModelSolidShapes";
+  case 1172: return "ModelSolidShapes_resize";
+  case 1173: return "ModelSolidShapes_isConsistent";
+  case 1174: return "ModelSolidShapes_linkSolidShapes_get";
+  case 1175: return "ModelSolidShapes_linkSolidShapes_set";
+  case 1176: return "Neighbor_neighborLink_get";
+  case 1177: return "Neighbor_neighborLink_set";
+  case 1178: return "Neighbor_neighborJoint_get";
+  case 1179: return "Neighbor_neighborJoint_set";
+  case 1180: return "new_Neighbor";
+  case 1181: return "delete_Neighbor";
+  case 1182: return "new_Model";
+  case 1183: return "Model_copy";
+  case 1184: return "delete_Model";
+  case 1185: return "Model_getNrOfLinks";
+  case 1186: return "Model_getLinkName";
+  case 1187: return "Model_getLinkIndex";
+  case 1188: return "Model_isValidLinkIndex";
+  case 1189: return "Model_getLink";
+  case 1190: return "Model_addLink";
+  case 1191: return "Model_getNrOfJoints";
+  case 1192: return "Model_getJointName";
+  case 1193: return "Model_getTotalMass";
+  case 1194: return "Model_getJointIndex";
+  case 1195: return "Model_getJoint";
+  case 1196: return "Model_isValidJointIndex";
+  case 1197: return "Model_isLinkNameUsed";
+  case 1198: return "Model_isJointNameUsed";
+  case 1199: return "Model_isFrameNameUsed";
+  case 1200: return "Model_addJoint";
+  case 1201: return "Model_addJointAndLink";
+  case 1202: return "Model_insertLinkToExistingJointAndAddJointForDisplacedLink";
+  case 1203: return "Model_getNrOfPosCoords";
+  case 1204: return "Model_getNrOfDOFs";
+  case 1205: return "Model_getNrOfFrames";
+  case 1206: return "Model_addAdditionalFrameToLink";
+  case 1207: return "Model_getFrameName";
+  case 1208: return "Model_getFrameIndex";
+  case 1209: return "Model_isValidFrameIndex";
+  case 1210: return "Model_getFrameTransform";
+  case 1211: return "Model_getFrameLink";
+  case 1212: return "Model_getLinkAdditionalFrames";
+  case 1213: return "Model_getNrOfNeighbors";
+  case 1214: return "Model_getNeighbor";
+  case 1215: return "Model_setDefaultBaseLink";
+  case 1216: return "Model_getDefaultBaseLink";
+  case 1217: return "Model_computeFullTreeTraversal";
+  case 1218: return "Model_getInertialParameters";
+  case 1219: return "Model_updateInertialParameters";
+  case 1220: return "Model_visualSolidShapes";
+  case 1221: return "Model_collisionSolidShapes";
+  case 1222: return "Model_toString";
+  case 1223: return "new_JointPosDoubleArray";
+  case 1224: return "JointPosDoubleArray_resize";
+  case 1225: return "JointPosDoubleArray_isConsistent";
+  case 1226: return "delete_JointPosDoubleArray";
+  case 1227: return "new_JointDOFsDoubleArray";
+  case 1228: return "JointDOFsDoubleArray_resize";
+  case 1229: return "JointDOFsDoubleArray_isConsistent";
+  case 1230: return "delete_JointDOFsDoubleArray";
+  case 1231: return "new_DOFSpatialForceArray";
+  case 1232: return "DOFSpatialForceArray_resize";
+  case 1233: return "DOFSpatialForceArray_isConsistent";
+  case 1234: return "DOFSpatialForceArray_paren";
+  case 1235: return "delete_DOFSpatialForceArray";
+  case 1236: return "new_DOFSpatialMotionArray";
+  case 1237: return "DOFSpatialMotionArray_resize";
+  case 1238: return "DOFSpatialMotionArray_isConsistent";
+  case 1239: return "DOFSpatialMotionArray_paren";
+  case 1240: return "delete_DOFSpatialMotionArray";
+  case 1241: return "new_FrameFreeFloatingJacobian";
+  case 1242: return "FrameFreeFloatingJacobian_resize";
+  case 1243: return "FrameFreeFloatingJacobian_isConsistent";
+  case 1244: return "delete_FrameFreeFloatingJacobian";
+  case 1245: return "new_MomentumFreeFloatingJacobian";
+  case 1246: return "MomentumFreeFloatingJacobian_resize";
+  case 1247: return "MomentumFreeFloatingJacobian_isConsistent";
+  case 1248: return "delete_MomentumFreeFloatingJacobian";
+  case 1249: return "new_FreeFloatingMassMatrix";
+  case 1250: return "FreeFloatingMassMatrix_resize";
+  case 1251: return "delete_FreeFloatingMassMatrix";
+  case 1252: return "new_FreeFloatingPos";
+  case 1253: return "FreeFloatingPos_resize";
+  case 1254: return "FreeFloatingPos_worldBasePos";
+  case 1255: return "FreeFloatingPos_jointPos";
+  case 1256: return "FreeFloatingPos_getNrOfPosCoords";
+  case 1257: return "delete_FreeFloatingPos";
+  case 1258: return "new_FreeFloatingGeneralizedTorques";
+  case 1259: return "FreeFloatingGeneralizedTorques_resize";
+  case 1260: return "FreeFloatingGeneralizedTorques_baseWrench";
+  case 1261: return "FreeFloatingGeneralizedTorques_jointTorques";
+  case 1262: return "FreeFloatingGeneralizedTorques_getNrOfDOFs";
+  case 1263: return "delete_FreeFloatingGeneralizedTorques";
+  case 1264: return "new_FreeFloatingVel";
+  case 1265: return "FreeFloatingVel_resize";
+  case 1266: return "FreeFloatingVel_baseVel";
+  case 1267: return "FreeFloatingVel_jointVel";
+  case 1268: return "FreeFloatingVel_getNrOfDOFs";
+  case 1269: return "delete_FreeFloatingVel";
+  case 1270: return "new_FreeFloatingAcc";
+  case 1271: return "FreeFloatingAcc_resize";
+  case 1272: return "FreeFloatingAcc_baseAcc";
+  case 1273: return "FreeFloatingAcc_jointAcc";
+  case 1274: return "FreeFloatingAcc_getNrOfDOFs";
+  case 1275: return "delete_FreeFloatingAcc";
+  case 1276: return "ContactWrench_contactId";
+  case 1277: return "ContactWrench_contactPoint";
+  case 1278: return "ContactWrench_contactWrench";
+  case 1279: return "new_ContactWrench";
+  case 1280: return "delete_ContactWrench";
+  case 1281: return "new_LinkContactWrenches";
+  case 1282: return "LinkContactWrenches_resize";
+  case 1283: return "LinkContactWrenches_getNrOfContactsForLink";
+  case 1284: return "LinkContactWrenches_setNrOfContactsForLink";
+  case 1285: return "LinkContactWrenches_getNrOfLinks";
+  case 1286: return "LinkContactWrenches_contactWrench";
+  case 1287: return "LinkContactWrenches_computeNetWrenches";
+  case 1288: return "LinkContactWrenches_toString";
+  case 1289: return "delete_LinkContactWrenches";
+  case 1290: return "SolidshapesVector_pop";
+  case 1291: return "SolidshapesVector_brace";
+  case 1292: return "SolidshapesVector_setbrace";
+  case 1293: return "SolidshapesVector_append";
+  case 1294: return "SolidshapesVector_empty";
+  case 1295: return "SolidshapesVector_size";
+  case 1296: return "SolidshapesVector_swap";
+  case 1297: return "SolidshapesVector_begin";
+  case 1298: return "SolidshapesVector_end";
+  case 1299: return "SolidshapesVector_rbegin";
+  case 1300: return "SolidshapesVector_rend";
+  case 1301: return "SolidshapesVector_clear";
+  case 1302: return "SolidshapesVector_get_allocator";
+  case 1303: return "SolidshapesVector_pop_back";
+  case 1304: return "SolidshapesVector_erase";
+  case 1305: return "new_SolidshapesVector";
+  case 1306: return "SolidshapesVector_push_back";
+  case 1307: return "SolidshapesVector_front";
+  case 1308: return "SolidshapesVector_back";
+  case 1309: return "SolidshapesVector_assign";
+  case 1310: return "SolidshapesVector_resize";
+  case 1311: return "SolidshapesVector_insert";
+  case 1312: return "SolidshapesVector_reserve";
+  case 1313: return "SolidshapesVector_capacity";
+  case 1314: return "delete_SolidshapesVector";
+  case 1315: return "linksSolidshapesVector_pop";
+  case 1316: return "linksSolidshapesVector_brace";
+  case 1317: return "linksSolidshapesVector_setbrace";
+  case 1318: return "linksSolidshapesVector_append";
+  case 1319: return "linksSolidshapesVector_empty";
+  case 1320: return "linksSolidshapesVector_size";
+  case 1321: return "linksSolidshapesVector_swap";
+  case 1322: return "linksSolidshapesVector_begin";
+  case 1323: return "linksSolidshapesVector_end";
+  case 1324: return "linksSolidshapesVector_rbegin";
+  case 1325: return "linksSolidshapesVector_rend";
+  case 1326: return "linksSolidshapesVector_clear";
+  case 1327: return "linksSolidshapesVector_get_allocator";
+  case 1328: return "linksSolidshapesVector_pop_back";
+  case 1329: return "linksSolidshapesVector_erase";
+  case 1330: return "new_linksSolidshapesVector";
+  case 1331: return "linksSolidshapesVector_push_back";
+  case 1332: return "linksSolidshapesVector_front";
+  case 1333: return "linksSolidshapesVector_back";
+  case 1334: return "linksSolidshapesVector_assign";
+  case 1335: return "linksSolidshapesVector_resize";
+  case 1336: return "linksSolidshapesVector_insert";
+  case 1337: return "linksSolidshapesVector_reserve";
+  case 1338: return "linksSolidshapesVector_capacity";
+  case 1339: return "delete_linksSolidshapesVector";
+  case 1340: return "_wrap_ForwardPositionKinematics";
+  case 1341: return "_wrap_ForwardVelAccKinematics";
+  case 1342: return "_wrap_ForwardPosVelAccKinematics";
+  case 1343: return "_wrap_ForwardPosVelKinematics";
+  case 1344: return "_wrap_ForwardAccKinematics";
+  case 1345: return "_wrap_ForwardBiasAccKinematics";
+  case 1346: return "_wrap_ComputeLinearAndAngularMomentum";
+  case 1347: return "_wrap_ComputeLinearAndAngularMomentumDerivativeBias";
+  case 1348: return "_wrap_RNEADynamicPhase";
+  case 1349: return "_wrap_CompositeRigidBodyAlgorithm";
+  case 1350: return "new_ArticulatedBodyAlgorithmInternalBuffers";
+  case 1351: return "ArticulatedBodyAlgorithmInternalBuffers_resize";
+  case 1352: return "ArticulatedBodyAlgorithmInternalBuffers_isConsistent";
+  case 1353: return "ArticulatedBodyAlgorithmInternalBuffers_S_get";
+  case 1354: return "ArticulatedBodyAlgorithmInternalBuffers_S_set";
+  case 1355: return "ArticulatedBodyAlgorithmInternalBuffers_U_get";
+  case 1356: return "ArticulatedBodyAlgorithmInternalBuffers_U_set";
+  case 1357: return "ArticulatedBodyAlgorithmInternalBuffers_D_get";
+  case 1358: return "ArticulatedBodyAlgorithmInternalBuffers_D_set";
+  case 1359: return "ArticulatedBodyAlgorithmInternalBuffers_u_get";
+  case 1360: return "ArticulatedBodyAlgorithmInternalBuffers_u_set";
+  case 1361: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_get";
+  case 1362: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_set";
+  case 1363: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get";
+  case 1364: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set";
+  case 1365: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get";
+  case 1366: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set";
+  case 1367: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get";
+  case 1368: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set";
+  case 1369: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get";
+  case 1370: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set";
+  case 1371: return "delete_ArticulatedBodyAlgorithmInternalBuffers";
+  case 1372: return "_wrap_ArticulatedBodyAlgorithm";
+  case 1373: return "_wrap_InverseDynamicsInertialParametersRegressor";
+  case 1374: return "NR_OF_SENSOR_TYPES_get";
+  case 1375: return "_wrap_isLinkSensor";
+  case 1376: return "_wrap_isJointSensor";
+  case 1377: return "_wrap_getSensorTypeSize";
+  case 1378: return "delete_Sensor";
+  case 1379: return "Sensor_getName";
+  case 1380: return "Sensor_getSensorType";
+  case 1381: return "Sensor_isValid";
+  case 1382: return "Sensor_setName";
+  case 1383: return "Sensor_clone";
+  case 1384: return "Sensor_isConsistent";
+  case 1385: return "Sensor_updateIndices";
+  case 1386: return "Sensor_updateIndeces";
+  case 1387: return "delete_JointSensor";
+  case 1388: return "JointSensor_getParentJoint";
+  case 1389: return "JointSensor_getParentJointIndex";
+  case 1390: return "JointSensor_setParentJoint";
+  case 1391: return "JointSensor_setParentJointIndex";
+  case 1392: return "JointSensor_isConsistent";
+  case 1393: return "delete_LinkSensor";
+  case 1394: return "LinkSensor_getParentLink";
+  case 1395: return "LinkSensor_getParentLinkIndex";
+  case 1396: return "LinkSensor_getLinkSensorTransform";
+  case 1397: return "LinkSensor_setParentLink";
+  case 1398: return "LinkSensor_setParentLinkIndex";
+  case 1399: return "LinkSensor_setLinkSensorTransform";
+  case 1400: return "LinkSensor_isConsistent";
+  case 1401: return "new_SensorsList";
+  case 1402: return "delete_SensorsList";
+  case 1403: return "SensorsList_addSensor";
+  case 1404: return "SensorsList_setSerialization";
+  case 1405: return "SensorsList_getSerialization";
+  case 1406: return "SensorsList_getNrOfSensors";
+  case 1407: return "SensorsList_getSensorIndex";
+  case 1408: return "SensorsList_getSizeOfAllSensorsMeasurements";
+  case 1409: return "SensorsList_getSensor";
+  case 1410: return "SensorsList_isConsistent";
+  case 1411: return "SensorsList_removeSensor";
+  case 1412: return "SensorsList_removeAllSensorsOfType";
+  case 1413: return "SensorsList_getSixAxisForceTorqueSensor";
+  case 1414: return "SensorsList_getAccelerometerSensor";
+  case 1415: return "SensorsList_getGyroscopeSensor";
+  case 1416: return "SensorsList_getThreeAxisAngularAccelerometerSensor";
+  case 1417: return "SensorsList_getThreeAxisForceTorqueContactSensor";
+  case 1418: return "new_SensorsMeasurements";
+  case 1419: return "delete_SensorsMeasurements";
+  case 1420: return "SensorsMeasurements_setNrOfSensors";
+  case 1421: return "SensorsMeasurements_getNrOfSensors";
+  case 1422: return "SensorsMeasurements_resize";
+  case 1423: return "SensorsMeasurements_toVector";
+  case 1424: return "SensorsMeasurements_setMeasurement";
+  case 1425: return "SensorsMeasurements_getMeasurement";
+  case 1426: return "SensorsMeasurements_getSizeOfAllSensorsMeasurements";
+  case 1427: return "new_SixAxisForceTorqueSensor";
+  case 1428: return "delete_SixAxisForceTorqueSensor";
+  case 1429: return "SixAxisForceTorqueSensor_setName";
+  case 1430: return "SixAxisForceTorqueSensor_setFirstLinkSensorTransform";
+  case 1431: return "SixAxisForceTorqueSensor_setSecondLinkSensorTransform";
+  case 1432: return "SixAxisForceTorqueSensor_getFirstLinkIndex";
+  case 1433: return "SixAxisForceTorqueSensor_getSecondLinkIndex";
+  case 1434: return "SixAxisForceTorqueSensor_setFirstLinkName";
+  case 1435: return "SixAxisForceTorqueSensor_setSecondLinkName";
+  case 1436: return "SixAxisForceTorqueSensor_getFirstLinkName";
+  case 1437: return "SixAxisForceTorqueSensor_getSecondLinkName";
+  case 1438: return "SixAxisForceTorqueSensor_setParentJoint";
+  case 1439: return "SixAxisForceTorqueSensor_setParentJointIndex";
+  case 1440: return "SixAxisForceTorqueSensor_setAppliedWrenchLink";
+  case 1441: return "SixAxisForceTorqueSensor_getName";
+  case 1442: return "SixAxisForceTorqueSensor_getSensorType";
+  case 1443: return "SixAxisForceTorqueSensor_getParentJoint";
+  case 1444: return "SixAxisForceTorqueSensor_getParentJointIndex";
+  case 1445: return "SixAxisForceTorqueSensor_isValid";
+  case 1446: return "SixAxisForceTorqueSensor_clone";
+  case 1447: return "SixAxisForceTorqueSensor_updateIndices";
+  case 1448: return "SixAxisForceTorqueSensor_updateIndeces";
+  case 1449: return "SixAxisForceTorqueSensor_getAppliedWrenchLink";
+  case 1450: return "SixAxisForceTorqueSensor_isLinkAttachedToSensor";
+  case 1451: return "SixAxisForceTorqueSensor_getLinkSensorTransform";
+  case 1452: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLink";
+  case 1453: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix";
+  case 1454: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix";
+  case 1455: return "SixAxisForceTorqueSensor_predictMeasurement";
+  case 1456: return "SixAxisForceTorqueSensor_toString";
+  case 1457: return "new_AccelerometerSensor";
+  case 1458: return "delete_AccelerometerSensor";
+  case 1459: return "AccelerometerSensor_setName";
+  case 1460: return "AccelerometerSensor_setLinkSensorTransform";
+  case 1461: return "AccelerometerSensor_setParentLink";
+  case 1462: return "AccelerometerSensor_setParentLinkIndex";
+  case 1463: return "AccelerometerSensor_getName";
+  case 1464: return "AccelerometerSensor_getSensorType";
+  case 1465: return "AccelerometerSensor_getParentLink";
+  case 1466: return "AccelerometerSensor_getParentLinkIndex";
+  case 1467: return "AccelerometerSensor_getLinkSensorTransform";
+  case 1468: return "AccelerometerSensor_isValid";
+  case 1469: return "AccelerometerSensor_clone";
+  case 1470: return "AccelerometerSensor_updateIndices";
+  case 1471: return "AccelerometerSensor_updateIndeces";
+  case 1472: return "AccelerometerSensor_predictMeasurement";
+  case 1473: return "new_GyroscopeSensor";
+  case 1474: return "delete_GyroscopeSensor";
+  case 1475: return "GyroscopeSensor_setName";
+  case 1476: return "GyroscopeSensor_setLinkSensorTransform";
+  case 1477: return "GyroscopeSensor_setParentLink";
+  case 1478: return "GyroscopeSensor_setParentLinkIndex";
+  case 1479: return "GyroscopeSensor_getName";
+  case 1480: return "GyroscopeSensor_getSensorType";
+  case 1481: return "GyroscopeSensor_getParentLink";
+  case 1482: return "GyroscopeSensor_getParentLinkIndex";
+  case 1483: return "GyroscopeSensor_getLinkSensorTransform";
+  case 1484: return "GyroscopeSensor_isValid";
+  case 1485: return "GyroscopeSensor_clone";
+  case 1486: return "GyroscopeSensor_updateIndices";
+  case 1487: return "GyroscopeSensor_updateIndeces";
+  case 1488: return "GyroscopeSensor_predictMeasurement";
+  case 1489: return "new_ThreeAxisAngularAccelerometerSensor";
+  case 1490: return "delete_ThreeAxisAngularAccelerometerSensor";
+  case 1491: return "ThreeAxisAngularAccelerometerSensor_setName";
+  case 1492: return "ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform";
+  case 1493: return "ThreeAxisAngularAccelerometerSensor_setParentLink";
+  case 1494: return "ThreeAxisAngularAccelerometerSensor_setParentLinkIndex";
+  case 1495: return "ThreeAxisAngularAccelerometerSensor_getName";
+  case 1496: return "ThreeAxisAngularAccelerometerSensor_getSensorType";
+  case 1497: return "ThreeAxisAngularAccelerometerSensor_getParentLink";
+  case 1498: return "ThreeAxisAngularAccelerometerSensor_getParentLinkIndex";
+  case 1499: return "ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform";
+  case 1500: return "ThreeAxisAngularAccelerometerSensor_isValid";
+  case 1501: return "ThreeAxisAngularAccelerometerSensor_clone";
+  case 1502: return "ThreeAxisAngularAccelerometerSensor_updateIndices";
+  case 1503: return "ThreeAxisAngularAccelerometerSensor_predictMeasurement";
+  case 1504: return "new_ThreeAxisForceTorqueContactSensor";
+  case 1505: return "delete_ThreeAxisForceTorqueContactSensor";
+  case 1506: return "ThreeAxisForceTorqueContactSensor_setName";
+  case 1507: return "ThreeAxisForceTorqueContactSensor_setLinkSensorTransform";
+  case 1508: return "ThreeAxisForceTorqueContactSensor_setParentLink";
+  case 1509: return "ThreeAxisForceTorqueContactSensor_setParentLinkIndex";
+  case 1510: return "ThreeAxisForceTorqueContactSensor_getName";
+  case 1511: return "ThreeAxisForceTorqueContactSensor_getSensorType";
+  case 1512: return "ThreeAxisForceTorqueContactSensor_getParentLink";
+  case 1513: return "ThreeAxisForceTorqueContactSensor_getParentLinkIndex";
+  case 1514: return "ThreeAxisForceTorqueContactSensor_getLinkSensorTransform";
+  case 1515: return "ThreeAxisForceTorqueContactSensor_isValid";
+  case 1516: return "ThreeAxisForceTorqueContactSensor_clone";
+  case 1517: return "ThreeAxisForceTorqueContactSensor_updateIndices";
+  case 1518: return "ThreeAxisForceTorqueContactSensor_setLoadCellLocations";
+  case 1519: return "ThreeAxisForceTorqueContactSensor_getLoadCellLocations";
+  case 1520: return "ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements";
+  case 1521: return "ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements";
+  case 1522: return "_wrap_predictSensorsMeasurements";
+  case 1523: return "_wrap_predictSensorsMeasurementsFromRawBuffers";
+  case 1524: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_get";
+  case 1525: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_set";
+  case 1526: return "URDFParserOptions_originalFilename_get";
+  case 1527: return "URDFParserOptions_originalFilename_set";
+  case 1528: return "new_URDFParserOptions";
+  case 1529: return "delete_URDFParserOptions";
+  case 1530: return "_wrap_modelFromURDF";
+  case 1531: return "_wrap_modelFromURDFString";
+  case 1532: return "_wrap_dofsListFromURDF";
+  case 1533: return "_wrap_dofsListFromURDFString";
+  case 1534: return "_wrap_sensorsFromURDF";
+  case 1535: return "_wrap_sensorsFromURDFString";
+  case 1536: return "ModelParserOptions_addSensorFramesAsAdditionalFrames_get";
+  case 1537: return "ModelParserOptions_addSensorFramesAsAdditionalFrames_set";
+  case 1538: return "ModelParserOptions_originalFilename_get";
+  case 1539: return "ModelParserOptions_originalFilename_set";
+  case 1540: return "new_ModelParserOptions";
+  case 1541: return "delete_ModelParserOptions";
+  case 1542: return "new_ModelLoader";
+  case 1543: return "delete_ModelLoader";
+  case 1544: return "ModelLoader_parsingOptions";
+  case 1545: return "ModelLoader_setParsingOptions";
+  case 1546: return "ModelLoader_loadModelFromString";
+  case 1547: return "ModelLoader_loadModelFromFile";
+  case 1548: return "ModelLoader_loadReducedModelFromFullModel";
+  case 1549: return "ModelLoader_loadReducedModelFromString";
+  case 1550: return "ModelLoader_loadReducedModelFromFile";
+  case 1551: return "ModelLoader_model";
+  case 1552: return "ModelLoader_sensors";
+  case 1553: return "ModelLoader_isValid";
+  case 1554: return "ModelExporterOptions_baseLink_get";
+  case 1555: return "ModelExporterOptions_baseLink_set";
+  case 1556: return "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get";
+  case 1557: return "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set";
+  case 1558: return "new_ModelExporterOptions";
+  case 1559: return "delete_ModelExporterOptions";
+  case 1560: return "new_ModelExporter";
+  case 1561: return "delete_ModelExporter";
+  case 1562: return "ModelExporter_exportingOptions";
+  case 1563: return "ModelExporter_setExportingOptions";
+  case 1564: return "ModelExporter_init";
+  case 1565: return "ModelExporter_model";
+  case 1566: return "ModelExporter_sensors";
+  case 1567: return "ModelExporter_isValid";
+  case 1568: return "ModelExporter_exportModelToString";
+  case 1569: return "ModelExporter_exportModelToFile";
+  case 1570: return "new_ModelCalibrationHelper";
+  case 1571: return "delete_ModelCalibrationHelper";
+  case 1572: return "ModelCalibrationHelper_loadModelFromString";
+  case 1573: return "ModelCalibrationHelper_loadModelFromFile";
+  case 1574: return "ModelCalibrationHelper_updateModelInertialParametersToString";
+  case 1575: return "ModelCalibrationHelper_updateModelInertialParametersToFile";
+  case 1576: return "ModelCalibrationHelper_model";
+  case 1577: return "ModelCalibrationHelper_sensors";
+  case 1578: return "ModelCalibrationHelper_isValid";
+  case 1579: return "new_UnknownWrenchContact";
+  case 1580: return "UnknownWrenchContact_unknownType_get";
+  case 1581: return "UnknownWrenchContact_unknownType_set";
+  case 1582: return "UnknownWrenchContact_contactPoint_get";
+  case 1583: return "UnknownWrenchContact_contactPoint_set";
+  case 1584: return "UnknownWrenchContact_forceDirection_get";
+  case 1585: return "UnknownWrenchContact_forceDirection_set";
+  case 1586: return "UnknownWrenchContact_knownWrench_get";
+  case 1587: return "UnknownWrenchContact_knownWrench_set";
+  case 1588: return "UnknownWrenchContact_contactId_get";
+  case 1589: return "UnknownWrenchContact_contactId_set";
+  case 1590: return "delete_UnknownWrenchContact";
+  case 1591: return "new_LinkUnknownWrenchContacts";
+  case 1592: return "LinkUnknownWrenchContacts_clear";
+  case 1593: return "LinkUnknownWrenchContacts_resize";
+  case 1594: return "LinkUnknownWrenchContacts_getNrOfContactsForLink";
+  case 1595: return "LinkUnknownWrenchContacts_setNrOfContactsForLink";
+  case 1596: return "LinkUnknownWrenchContacts_addNewContactForLink";
+  case 1597: return "LinkUnknownWrenchContacts_addNewContactInFrame";
+  case 1598: return "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin";
+  case 1599: return "LinkUnknownWrenchContacts_contactWrench";
+  case 1600: return "LinkUnknownWrenchContacts_toString";
+  case 1601: return "delete_LinkUnknownWrenchContacts";
+  case 1602: return "new_estimateExternalWrenchesBuffers";
+  case 1603: return "estimateExternalWrenchesBuffers_resize";
+  case 1604: return "estimateExternalWrenchesBuffers_getNrOfSubModels";
+  case 1605: return "estimateExternalWrenchesBuffers_getNrOfLinks";
+  case 1606: return "estimateExternalWrenchesBuffers_isConsistent";
+  case 1607: return "estimateExternalWrenchesBuffers_A_get";
+  case 1608: return "estimateExternalWrenchesBuffers_A_set";
+  case 1609: return "estimateExternalWrenchesBuffers_x_get";
+  case 1610: return "estimateExternalWrenchesBuffers_x_set";
+  case 1611: return "estimateExternalWrenchesBuffers_b_get";
+  case 1612: return "estimateExternalWrenchesBuffers_b_set";
+  case 1613: return "estimateExternalWrenchesBuffers_pinvA_get";
+  case 1614: return "estimateExternalWrenchesBuffers_pinvA_set";
+  case 1615: return "estimateExternalWrenchesBuffers_b_contacts_subtree_get";
+  case 1616: return "estimateExternalWrenchesBuffers_b_contacts_subtree_set";
+  case 1617: return "estimateExternalWrenchesBuffers_subModelBase_H_link_get";
+  case 1618: return "estimateExternalWrenchesBuffers_subModelBase_H_link_set";
+  case 1619: return "delete_estimateExternalWrenchesBuffers";
+  case 1620: return "_wrap_estimateExternalWrenchesWithoutInternalFT";
+  case 1621: return "_wrap_estimateExternalWrenches";
+  case 1622: return "_wrap_dynamicsEstimationForwardVelAccKinematics";
+  case 1623: return "_wrap_dynamicsEstimationForwardVelKinematics";
+  case 1624: return "_wrap_computeLinkNetWrenchesWithoutGravity";
+  case 1625: return "_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches";
+  case 1626: return "new_ExtWrenchesAndJointTorquesEstimator";
+  case 1627: return "delete_ExtWrenchesAndJointTorquesEstimator";
+  case 1628: return "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors";
+  case 1629: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile";
+  case 1630: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs";
+  case 1631: return "ExtWrenchesAndJointTorquesEstimator_model";
+  case 1632: return "ExtWrenchesAndJointTorquesEstimator_sensors";
+  case 1633: return "ExtWrenchesAndJointTorquesEstimator_submodels";
+  case 1634: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase";
+  case 1635: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase";
+  case 1636: return "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements";
+  case 1637: return "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques";
+  case 1638: return "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill";
+  case 1639: return "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity";
+  case 1640: return "new_SimpleLeggedOdometry";
+  case 1641: return "delete_SimpleLeggedOdometry";
+  case 1642: return "SimpleLeggedOdometry_setModel";
+  case 1643: return "SimpleLeggedOdometry_loadModelFromFile";
+  case 1644: return "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs";
+  case 1645: return "SimpleLeggedOdometry_model";
+  case 1646: return "SimpleLeggedOdometry_updateKinematics";
+  case 1647: return "SimpleLeggedOdometry_init";
+  case 1648: return "SimpleLeggedOdometry_changeFixedFrame";
+  case 1649: return "SimpleLeggedOdometry_getCurrentFixedLink";
+  case 1650: return "SimpleLeggedOdometry_getWorldLinkTransform";
+  case 1651: return "SimpleLeggedOdometry_getWorldFrameTransform";
+  case 1652: return "_wrap_isLinkBerdyDynamicVariable";
+  case 1653: return "_wrap_isJointBerdyDynamicVariable";
+  case 1654: return "_wrap_isDOFBerdyDynamicVariable";
+  case 1655: return "new_BerdyOptions";
+  case 1656: return "BerdyOptions_berdyVariant_get";
+  case 1657: return "BerdyOptions_berdyVariant_set";
+  case 1658: return "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get";
+  case 1659: return "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set";
+  case 1660: return "BerdyOptions_includeAllJointAccelerationsAsSensors_get";
+  case 1661: return "BerdyOptions_includeAllJointAccelerationsAsSensors_set";
+  case 1662: return "BerdyOptions_includeAllJointTorquesAsSensors_get";
+  case 1663: return "BerdyOptions_includeAllJointTorquesAsSensors_set";
+  case 1664: return "BerdyOptions_includeAllNetExternalWrenchesAsSensors_get";
+  case 1665: return "BerdyOptions_includeAllNetExternalWrenchesAsSensors_set";
+  case 1666: return "BerdyOptions_includeFixedBaseExternalWrench_get";
+  case 1667: return "BerdyOptions_includeFixedBaseExternalWrench_set";
+  case 1668: return "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get";
+  case 1669: return "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set";
+  case 1670: return "BerdyOptions_baseLink_get";
+  case 1671: return "BerdyOptions_baseLink_set";
+  case 1672: return "BerdyOptions_checkConsistency";
+  case 1673: return "delete_BerdyOptions";
+  case 1674: return "BerdySensor_type_get";
+  case 1675: return "BerdySensor_type_set";
+  case 1676: return "BerdySensor_id_get";
+  case 1677: return "BerdySensor_id_set";
+  case 1678: return "BerdySensor_range_get";
+  case 1679: return "BerdySensor_range_set";
+  case 1680: return "BerdySensor_eq";
+  case 1681: return "BerdySensor_lt";
+  case 1682: return "new_BerdySensor";
+  case 1683: return "delete_BerdySensor";
+  case 1684: return "BerdyDynamicVariable_type_get";
+  case 1685: return "BerdyDynamicVariable_type_set";
+  case 1686: return "BerdyDynamicVariable_id_get";
+  case 1687: return "BerdyDynamicVariable_id_set";
+  case 1688: return "BerdyDynamicVariable_range_get";
+  case 1689: return "BerdyDynamicVariable_range_set";
+  case 1690: return "BerdyDynamicVariable_eq";
+  case 1691: return "BerdyDynamicVariable_lt";
+  case 1692: return "new_BerdyDynamicVariable";
+  case 1693: return "delete_BerdyDynamicVariable";
+  case 1694: return "new_BerdyHelper";
+  case 1695: return "BerdyHelper_dynamicTraversal";
+  case 1696: return "BerdyHelper_model";
+  case 1697: return "BerdyHelper_sensors";
+  case 1698: return "BerdyHelper_isValid";
+  case 1699: return "BerdyHelper_init";
+  case 1700: return "BerdyHelper_getOptions";
+  case 1701: return "BerdyHelper_getNrOfDynamicVariables";
+  case 1702: return "BerdyHelper_getNrOfDynamicEquations";
+  case 1703: return "BerdyHelper_getNrOfSensorsMeasurements";
+  case 1704: return "BerdyHelper_resizeAndZeroBerdyMatrices";
+  case 1705: return "BerdyHelper_getBerdyMatrices";
+  case 1706: return "BerdyHelper_getSensorsOrdering";
+  case 1707: return "BerdyHelper_getRangeSensorVariable";
+  case 1708: return "BerdyHelper_getRangeDOFSensorVariable";
+  case 1709: return "BerdyHelper_getRangeJointSensorVariable";
+  case 1710: return "BerdyHelper_getRangeLinkSensorVariable";
+  case 1711: return "BerdyHelper_getRangeLinkVariable";
+  case 1712: return "BerdyHelper_getRangeJointVariable";
+  case 1713: return "BerdyHelper_getRangeDOFVariable";
+  case 1714: return "BerdyHelper_getDynamicVariablesOrdering";
+  case 1715: return "BerdyHelper_serializeDynamicVariables";
+  case 1716: return "BerdyHelper_serializeSensorVariables";
+  case 1717: return "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA";
+  case 1718: return "BerdyHelper_extractJointTorquesFromDynamicVariables";
+  case 1719: return "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables";
+  case 1720: return "BerdyHelper_updateKinematicsFromFloatingBase";
+  case 1721: return "BerdyHelper_updateKinematicsFromFixedBase";
+  case 1722: return "BerdyHelper_updateKinematicsFromTraversalFixedBase";
+  case 1723: return "BerdyHelper_setNetExternalWrenchMeasurementFrame";
+  case 1724: return "BerdyHelper_getNetExternalWrenchMeasurementFrame";
+  case 1725: return "delete_BerdyHelper";
+  case 1726: return "new_BerdySparseMAPSolver";
+  case 1727: return "delete_BerdySparseMAPSolver";
+  case 1728: return "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance";
+  case 1729: return "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance";
+  case 1730: return "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue";
+  case 1731: return "BerdySparseMAPSolver_setMeasurementsPriorCovariance";
+  case 1732: return "BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse";
+  case 1733: return "BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse";
+  case 1734: return "BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue";
+  case 1735: return "BerdySparseMAPSolver_measurementsPriorCovarianceInverse";
+  case 1736: return "BerdySparseMAPSolver_isValid";
+  case 1737: return "BerdySparseMAPSolver_initialize";
+  case 1738: return "BerdySparseMAPSolver_updateEstimateInformationFixedBase";
+  case 1739: return "BerdySparseMAPSolver_updateEstimateInformationFloatingBase";
+  case 1740: return "BerdySparseMAPSolver_doEstimate";
+  case 1741: return "BerdySparseMAPSolver_getLastEstimate";
+  case 1742: return "AttitudeEstimatorState_m_orientation_get";
+  case 1743: return "AttitudeEstimatorState_m_orientation_set";
+  case 1744: return "AttitudeEstimatorState_m_angular_velocity_get";
+  case 1745: return "AttitudeEstimatorState_m_angular_velocity_set";
+  case 1746: return "AttitudeEstimatorState_m_gyroscope_bias_get";
+  case 1747: return "AttitudeEstimatorState_m_gyroscope_bias_set";
+  case 1748: return "new_AttitudeEstimatorState";
+  case 1749: return "delete_AttitudeEstimatorState";
+  case 1750: return "delete_IAttitudeEstimator";
+  case 1751: return "IAttitudeEstimator_updateFilterWithMeasurements";
+  case 1752: return "IAttitudeEstimator_propagateStates";
+  case 1753: return "IAttitudeEstimator_getOrientationEstimateAsRotationMatrix";
+  case 1754: return "IAttitudeEstimator_getOrientationEstimateAsQuaternion";
+  case 1755: return "IAttitudeEstimator_getOrientationEstimateAsRPY";
+  case 1756: return "IAttitudeEstimator_getInternalStateSize";
+  case 1757: return "IAttitudeEstimator_getInternalState";
+  case 1758: return "IAttitudeEstimator_getDefaultInternalInitialState";
+  case 1759: return "IAttitudeEstimator_setInternalState";
+  case 1760: return "IAttitudeEstimator_setInternalStateInitialOrientation";
+  case 1761: return "AttitudeMahonyFilterParameters_time_step_in_seconds_get";
+  case 1762: return "AttitudeMahonyFilterParameters_time_step_in_seconds_set";
+  case 1763: return "AttitudeMahonyFilterParameters_kp_get";
+  case 1764: return "AttitudeMahonyFilterParameters_kp_set";
+  case 1765: return "AttitudeMahonyFilterParameters_ki_get";
+  case 1766: return "AttitudeMahonyFilterParameters_ki_set";
+  case 1767: return "AttitudeMahonyFilterParameters_use_magnetometer_measurements_get";
+  case 1768: return "AttitudeMahonyFilterParameters_use_magnetometer_measurements_set";
+  case 1769: return "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get";
+  case 1770: return "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set";
+  case 1771: return "new_AttitudeMahonyFilterParameters";
+  case 1772: return "delete_AttitudeMahonyFilterParameters";
+  case 1773: return "new_AttitudeMahonyFilter";
+  case 1774: return "AttitudeMahonyFilter_useMagnetoMeterMeasurements";
+  case 1775: return "AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements";
+  case 1776: return "AttitudeMahonyFilter_setGainkp";
+  case 1777: return "AttitudeMahonyFilter_setGainki";
+  case 1778: return "AttitudeMahonyFilter_setTimeStepInSeconds";
+  case 1779: return "AttitudeMahonyFilter_setGravityDirection";
+  case 1780: return "AttitudeMahonyFilter_setParameters";
+  case 1781: return "AttitudeMahonyFilter_getParameters";
+  case 1782: return "AttitudeMahonyFilter_updateFilterWithMeasurements";
+  case 1783: return "AttitudeMahonyFilter_propagateStates";
+  case 1784: return "AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix";
+  case 1785: return "AttitudeMahonyFilter_getOrientationEstimateAsQuaternion";
+  case 1786: return "AttitudeMahonyFilter_getOrientationEstimateAsRPY";
+  case 1787: return "AttitudeMahonyFilter_getInternalStateSize";
+  case 1788: return "AttitudeMahonyFilter_getInternalState";
+  case 1789: return "AttitudeMahonyFilter_getDefaultInternalInitialState";
+  case 1790: return "AttitudeMahonyFilter_setInternalState";
+  case 1791: return "AttitudeMahonyFilter_setInternalStateInitialOrientation";
+  case 1792: return "delete_AttitudeMahonyFilter";
+  case 1793: return "DiscreteExtendedKalmanFilterHelper_ekf_f";
+  case 1794: return "DiscreteExtendedKalmanFilterHelper_ekf_h";
+  case 1795: return "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF";
+  case 1796: return "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH";
+  case 1797: return "DiscreteExtendedKalmanFilterHelper_ekfPredict";
+  case 1798: return "DiscreteExtendedKalmanFilterHelper_ekfUpdate";
+  case 1799: return "DiscreteExtendedKalmanFilterHelper_ekfInit";
+  case 1800: return "DiscreteExtendedKalmanFilterHelper_ekfReset";
+  case 1801: return "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector";
+  case 1802: return "DiscreteExtendedKalmanFilterHelper_ekfSetInputVector";
+  case 1803: return "DiscreteExtendedKalmanFilterHelper_ekfSetInitialState";
+  case 1804: return "DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance";
+  case 1805: return "DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance";
+  case 1806: return "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance";
+  case 1807: return "DiscreteExtendedKalmanFilterHelper_ekfSetStateSize";
+  case 1808: return "DiscreteExtendedKalmanFilterHelper_ekfSetInputSize";
+  case 1809: return "DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize";
+  case 1810: return "DiscreteExtendedKalmanFilterHelper_ekfGetStates";
+  case 1811: return "DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance";
+  case 1812: return "delete_DiscreteExtendedKalmanFilterHelper";
+  case 1813: return "output_dimensions_with_magnetometer_get";
+  case 1814: return "output_dimensions_without_magnetometer_get";
+  case 1815: return "input_dimensions_get";
+  case 1816: return "AttitudeQuaternionEKFParameters_time_step_in_seconds_get";
+  case 1817: return "AttitudeQuaternionEKFParameters_time_step_in_seconds_set";
+  case 1818: return "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get";
+  case 1819: return "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set";
+  case 1820: return "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get";
+  case 1821: return "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set";
+  case 1822: return "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get";
+  case 1823: return "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set";
+  case 1824: return "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get";
+  case 1825: return "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set";
+  case 1826: return "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get";
+  case 1827: return "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set";
+  case 1828: return "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get";
+  case 1829: return "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set";
+  case 1830: return "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get";
+  case 1831: return "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set";
+  case 1832: return "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get";
+  case 1833: return "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set";
+  case 1834: return "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get";
+  case 1835: return "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set";
+  case 1836: return "new_AttitudeQuaternionEKFParameters";
+  case 1837: return "delete_AttitudeQuaternionEKFParameters";
+  case 1838: return "new_AttitudeQuaternionEKF";
+  case 1839: return "AttitudeQuaternionEKF_getParameters";
+  case 1840: return "AttitudeQuaternionEKF_setParameters";
+  case 1841: return "AttitudeQuaternionEKF_setGravityDirection";
+  case 1842: return "AttitudeQuaternionEKF_setTimeStepInSeconds";
+  case 1843: return "AttitudeQuaternionEKF_setBiasCorrelationTimeFactor";
+  case 1844: return "AttitudeQuaternionEKF_useMagnetometerMeasurements";
+  case 1845: return "AttitudeQuaternionEKF_setMeasurementNoiseVariance";
+  case 1846: return "AttitudeQuaternionEKF_setSystemNoiseVariance";
+  case 1847: return "AttitudeQuaternionEKF_setInitialStateCovariance";
+  case 1848: return "AttitudeQuaternionEKF_initializeFilter";
+  case 1849: return "AttitudeQuaternionEKF_updateFilterWithMeasurements";
+  case 1850: return "AttitudeQuaternionEKF_propagateStates";
+  case 1851: return "AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix";
+  case 1852: return "AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion";
+  case 1853: return "AttitudeQuaternionEKF_getOrientationEstimateAsRPY";
+  case 1854: return "AttitudeQuaternionEKF_getInternalStateSize";
+  case 1855: return "AttitudeQuaternionEKF_getInternalState";
+  case 1856: return "AttitudeQuaternionEKF_getDefaultInternalInitialState";
+  case 1857: return "AttitudeQuaternionEKF_setInternalState";
+  case 1858: return "AttitudeQuaternionEKF_setInternalStateInitialOrientation";
+  case 1859: return "delete_AttitudeQuaternionEKF";
+  case 1860: return "_wrap_estimateInertialParametersFromLinkBoundingBoxesAndTotalMass";
+  case 1861: return "DynamicsRegressorParameter_category_get";
+  case 1862: return "DynamicsRegressorParameter_category_set";
+  case 1863: return "DynamicsRegressorParameter_elemIndex_get";
+  case 1864: return "DynamicsRegressorParameter_elemIndex_set";
+  case 1865: return "DynamicsRegressorParameter_type_get";
+  case 1866: return "DynamicsRegressorParameter_type_set";
+  case 1867: return "DynamicsRegressorParameter_lt";
+  case 1868: return "DynamicsRegressorParameter_eq";
+  case 1869: return "DynamicsRegressorParameter_ne";
+  case 1870: return "new_DynamicsRegressorParameter";
+  case 1871: return "delete_DynamicsRegressorParameter";
+  case 1872: return "DynamicsRegressorParametersList_parameters_get";
+  case 1873: return "DynamicsRegressorParametersList_parameters_set";
+  case 1874: return "DynamicsRegressorParametersList_getDescriptionOfParameter";
+  case 1875: return "DynamicsRegressorParametersList_addParam";
+  case 1876: return "DynamicsRegressorParametersList_addList";
+  case 1877: return "DynamicsRegressorParametersList_findParam";
+  case 1878: return "DynamicsRegressorParametersList_getNrOfParameters";
+  case 1879: return "new_DynamicsRegressorParametersList";
+  case 1880: return "delete_DynamicsRegressorParametersList";
+  case 1881: return "new_DynamicsRegressorGenerator";
+  case 1882: return "delete_DynamicsRegressorGenerator";
+  case 1883: return "DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile";
+  case 1884: return "DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString";
+  case 1885: return "DynamicsRegressorGenerator_loadRegressorStructureFromFile";
+  case 1886: return "DynamicsRegressorGenerator_loadRegressorStructureFromString";
+  case 1887: return "DynamicsRegressorGenerator_isValid";
+  case 1888: return "DynamicsRegressorGenerator_getNrOfParameters";
+  case 1889: return "DynamicsRegressorGenerator_getNrOfOutputs";
+  case 1890: return "DynamicsRegressorGenerator_getNrOfDegreesOfFreedom";
+  case 1891: return "DynamicsRegressorGenerator_getDescriptionOfParameter";
+  case 1892: return "DynamicsRegressorGenerator_getDescriptionOfParameters";
+  case 1893: return "DynamicsRegressorGenerator_getDescriptionOfOutput";
+  case 1894: return "DynamicsRegressorGenerator_getDescriptionOfOutputs";
+  case 1895: return "DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom";
+  case 1896: return "DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom";
+  case 1897: return "DynamicsRegressorGenerator_getDescriptionOfLink";
+  case 1898: return "DynamicsRegressorGenerator_getDescriptionOfLinks";
+  case 1899: return "DynamicsRegressorGenerator_getNrOfLinks";
+  case 1900: return "DynamicsRegressorGenerator_getNrOfFakeLinks";
+  case 1901: return "DynamicsRegressorGenerator_getBaseLinkName";
+  case 1902: return "DynamicsRegressorGenerator_getSensorsModel";
+  case 1903: return "DynamicsRegressorGenerator_setRobotState";
+  case 1904: return "DynamicsRegressorGenerator_getSensorsMeasurements";
+  case 1905: return "DynamicsRegressorGenerator_setTorqueSensorMeasurement";
+  case 1906: return "DynamicsRegressorGenerator_computeRegressor";
+  case 1907: return "DynamicsRegressorGenerator_getModelParameters";
+  case 1908: return "DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace";
+  case 1909: return "DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace";
+  case 1910: return "DynamicsRegressorGenerator_generate_random_regressors";
+  case 1911: return "new_KinDynComputations";
+  case 1912: return "delete_KinDynComputations";
+  case 1913: return "KinDynComputations_loadRobotModel";
+  case 1914: return "KinDynComputations_loadRobotModelFromFile";
+  case 1915: return "KinDynComputations_loadRobotModelFromString";
+  case 1916: return "KinDynComputations_isValid";
+  case 1917: return "KinDynComputations_setFrameVelocityRepresentation";
+  case 1918: return "KinDynComputations_getFrameVelocityRepresentation";
+  case 1919: return "KinDynComputations_getNrOfDegreesOfFreedom";
+  case 1920: return "KinDynComputations_getDescriptionOfDegreeOfFreedom";
+  case 1921: return "KinDynComputations_getDescriptionOfDegreesOfFreedom";
+  case 1922: return "KinDynComputations_getNrOfLinks";
+  case 1923: return "KinDynComputations_getNrOfFrames";
+  case 1924: return "KinDynComputations_getFloatingBase";
+  case 1925: return "KinDynComputations_setFloatingBase";
+  case 1926: return "KinDynComputations_model";
+  case 1927: return "KinDynComputations_getRobotModel";
+  case 1928: return "KinDynComputations_getRelativeJacobianSparsityPattern";
+  case 1929: return "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern";
+  case 1930: return "KinDynComputations_setJointPos";
+  case 1931: return "KinDynComputations_setRobotState";
+  case 1932: return "KinDynComputations_getRobotState";
+  case 1933: return "KinDynComputations_getWorldBaseTransform";
+  case 1934: return "KinDynComputations_getBaseTwist";
+  case 1935: return "KinDynComputations_getJointPos";
+  case 1936: return "KinDynComputations_getJointVel";
+  case 1937: return "KinDynComputations_getModelVel";
+  case 1938: return "KinDynComputations_getFrameIndex";
+  case 1939: return "KinDynComputations_getFrameName";
+  case 1940: return "KinDynComputations_getWorldTransform";
+  case 1941: return "KinDynComputations_getRelativeTransformExplicit";
+  case 1942: return "KinDynComputations_getRelativeTransform";
+  case 1943: return "KinDynComputations_getFrameVel";
+  case 1944: return "KinDynComputations_getFrameAcc";
+  case 1945: return "KinDynComputations_getFrameFreeFloatingJacobian";
+  case 1946: return "KinDynComputations_getRelativeJacobian";
+  case 1947: return "KinDynComputations_getRelativeJacobianExplicit";
+  case 1948: return "KinDynComputations_getFrameBiasAcc";
+  case 1949: return "KinDynComputations_getCenterOfMassPosition";
+  case 1950: return "KinDynComputations_getCenterOfMassVelocity";
+  case 1951: return "KinDynComputations_getCenterOfMassJacobian";
+  case 1952: return "KinDynComputations_getCenterOfMassBiasAcc";
+  case 1953: return "KinDynComputations_getAverageVelocity";
+  case 1954: return "KinDynComputations_getAverageVelocityJacobian";
+  case 1955: return "KinDynComputations_getCentroidalAverageVelocity";
+  case 1956: return "KinDynComputations_getCentroidalAverageVelocityJacobian";
+  case 1957: return "KinDynComputations_getLinearAngularMomentum";
+  case 1958: return "KinDynComputations_getLinearAngularMomentumJacobian";
+  case 1959: return "KinDynComputations_getCentroidalTotalMomentum";
+  case 1960: return "KinDynComputations_getFreeFloatingMassMatrix";
+  case 1961: return "KinDynComputations_inverseDynamics";
+  case 1962: return "KinDynComputations_generalizedBiasForces";
+  case 1963: return "KinDynComputations_generalizedGravityForces";
+  case 1964: return "KinDynComputations_generalizedExternalForces";
+  case 1965: return "KinDynComputations_inverseDynamicsInertialParametersRegressor";
+  case 1966: return "delete_ICamera";
+  case 1967: return "ICamera_setPosition";
+  case 1968: return "ICamera_setTarget";
+  case 1969: return "ICamera_setUpVector";
+  case 1970: return "ColorViz_r_get";
+  case 1971: return "ColorViz_r_set";
+  case 1972: return "ColorViz_g_get";
+  case 1973: return "ColorViz_g_set";
+  case 1974: return "ColorViz_b_get";
+  case 1975: return "ColorViz_b_set";
+  case 1976: return "ColorViz_a_get";
+  case 1977: return "ColorViz_a_set";
+  case 1978: return "new_ColorViz";
+  case 1979: return "delete_ColorViz";
+  case 1980: return "delete_ILight";
+  case 1981: return "ILight_getName";
+  case 1982: return "ILight_setType";
+  case 1983: return "ILight_getType";
+  case 1984: return "ILight_setPosition";
+  case 1985: return "ILight_getPosition";
+  case 1986: return "ILight_setDirection";
+  case 1987: return "ILight_getDirection";
+  case 1988: return "ILight_setAmbientColor";
+  case 1989: return "ILight_getAmbientColor";
+  case 1990: return "ILight_setSpecularColor";
+  case 1991: return "ILight_getSpecularColor";
+  case 1992: return "ILight_setDiffuseColor";
+  case 1993: return "ILight_getDiffuseColor";
+  case 1994: return "delete_IEnvironment";
+  case 1995: return "IEnvironment_getElements";
+  case 1996: return "IEnvironment_setElementVisibility";
+  case 1997: return "IEnvironment_setBackgroundColor";
+  case 1998: return "IEnvironment_setAmbientLight";
+  case 1999: return "IEnvironment_getLights";
+  case 2000: return "IEnvironment_addLight";
+  case 2001: return "IEnvironment_lightViz";
+  case 2002: return "IEnvironment_removeLight";
+  case 2003: return "delete_IJetsVisualization";
+  case 2004: return "IJetsVisualization_setJetsFrames";
+  case 2005: return "IJetsVisualization_getNrOfJets";
+  case 2006: return "IJetsVisualization_getJetDirection";
+  case 2007: return "IJetsVisualization_setJetDirection";
+  case 2008: return "IJetsVisualization_setJetColor";
+  case 2009: return "IJetsVisualization_setJetsDimensions";
+  case 2010: return "IJetsVisualization_setJetsIntensity";
+  case 2011: return "delete_IVectorsVisualization";
+  case 2012: return "IVectorsVisualization_addVector";
+  case 2013: return "IVectorsVisualization_getNrOfVectors";
+  case 2014: return "IVectorsVisualization_getVector";
+  case 2015: return "IVectorsVisualization_updateVector";
+  case 2016: return "IVectorsVisualization_setVectorColor";
+  case 2017: return "IVectorsVisualization_setVectorsAspect";
+  case 2018: return "delete_IModelVisualization";
+  case 2019: return "IModelVisualization_setPositions";
+  case 2020: return "IModelVisualization_setLinkPositions";
+  case 2021: return "IModelVisualization_model";
+  case 2022: return "IModelVisualization_getInstanceName";
+  case 2023: return "IModelVisualization_setModelVisibility";
+  case 2024: return "IModelVisualization_setModelColor";
+  case 2025: return "IModelVisualization_resetModelColor";
+  case 2026: return "IModelVisualization_setLinkColor";
+  case 2027: return "IModelVisualization_resetLinkColor";
+  case 2028: return "IModelVisualization_getLinkNames";
+  case 2029: return "IModelVisualization_setLinkVisibility";
+  case 2030: return "IModelVisualization_getFeatures";
+  case 2031: return "IModelVisualization_setFeatureVisibility";
+  case 2032: return "IModelVisualization_jets";
+  case 2033: return "IModelVisualization_getWorldModelTransform";
+  case 2034: return "IModelVisualization_getWorldLinkTransform";
+  case 2035: return "VisualizerOptions_verbose_get";
+  case 2036: return "VisualizerOptions_verbose_set";
+  case 2037: return "VisualizerOptions_winWidth_get";
+  case 2038: return "VisualizerOptions_winWidth_set";
+  case 2039: return "VisualizerOptions_winHeight_get";
+  case 2040: return "VisualizerOptions_winHeight_set";
+  case 2041: return "VisualizerOptions_rootFrameArrowsDimension_get";
+  case 2042: return "VisualizerOptions_rootFrameArrowsDimension_set";
+  case 2043: return "new_VisualizerOptions";
+  case 2044: return "delete_VisualizerOptions";
+  case 2045: return "new_Visualizer";
+  case 2046: return "delete_Visualizer";
+  case 2047: return "Visualizer_init";
+  case 2048: return "Visualizer_getNrOfVisualizedModels";
+  case 2049: return "Visualizer_getModelInstanceName";
+  case 2050: return "Visualizer_getModelInstanceIndex";
+  case 2051: return "Visualizer_addModel";
+  case 2052: return "Visualizer_modelViz";
+  case 2053: return "Visualizer_camera";
+  case 2054: return "Visualizer_enviroment";
+  case 2055: return "Visualizer_vectors";
+  case 2056: return "Visualizer_run";
+  case 2057: return "Visualizer_draw";
+  case 2058: return "Visualizer_drawToFile";
+  case 2059: return "Visualizer_close";
+  case 2060: return "Polygon_m_vertices_get";
+  case 2061: return "Polygon_m_vertices_set";
+  case 2062: return "new_Polygon";
+  case 2063: return "Polygon_setNrOfVertices";
+  case 2064: return "Polygon_getNrOfVertices";
+  case 2065: return "Polygon_isValid";
+  case 2066: return "Polygon_applyTransform";
+  case 2067: return "Polygon_paren";
+  case 2068: return "Polygon_XYRectangleFromOffsets";
+  case 2069: return "delete_Polygon";
+  case 2070: return "Polygon2D_m_vertices_get";
+  case 2071: return "Polygon2D_m_vertices_set";
+  case 2072: return "new_Polygon2D";
+  case 2073: return "Polygon2D_setNrOfVertices";
+  case 2074: return "Polygon2D_getNrOfVertices";
+  case 2075: return "Polygon2D_isValid";
+  case 2076: return "Polygon2D_paren";
+  case 2077: return "delete_Polygon2D";
+  case 2078: return "ConvexHullProjectionConstraint_setActive";
+  case 2079: return "ConvexHullProjectionConstraint_isActive";
+  case 2080: return "ConvexHullProjectionConstraint_getNrOfConstraints";
+  case 2081: return "ConvexHullProjectionConstraint_projectedConvexHull_get";
+  case 2082: return "ConvexHullProjectionConstraint_projectedConvexHull_set";
+  case 2083: return "ConvexHullProjectionConstraint_A_get";
+  case 2084: return "ConvexHullProjectionConstraint_A_set";
+  case 2085: return "ConvexHullProjectionConstraint_b_get";
+  case 2086: return "ConvexHullProjectionConstraint_b_set";
+  case 2087: return "ConvexHullProjectionConstraint_P_get";
+  case 2088: return "ConvexHullProjectionConstraint_P_set";
+  case 2089: return "ConvexHullProjectionConstraint_Pdirection_get";
+  case 2090: return "ConvexHullProjectionConstraint_Pdirection_set";
+  case 2091: return "ConvexHullProjectionConstraint_AtimesP_get";
+  case 2092: return "ConvexHullProjectionConstraint_AtimesP_set";
+  case 2093: return "ConvexHullProjectionConstraint_o_get";
+  case 2094: return "ConvexHullProjectionConstraint_o_set";
+  case 2095: return "ConvexHullProjectionConstraint_buildConvexHull";
+  case 2096: return "ConvexHullProjectionConstraint_supportFrameIndices_get";
+  case 2097: return "ConvexHullProjectionConstraint_supportFrameIndices_set";
+  case 2098: return "ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_get";
+  case 2099: return "ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_set";
+  case 2100: return "ConvexHullProjectionConstraint_project";
+  case 2101: return "ConvexHullProjectionConstraint_computeMargin";
+  case 2102: return "ConvexHullProjectionConstraint_setProjectionAlongDirection";
+  case 2103: return "ConvexHullProjectionConstraint_projectAlongDirection";
+  case 2104: return "new_ConvexHullProjectionConstraint";
+  case 2105: return "delete_ConvexHullProjectionConstraint";
+  case 2106: return "_wrap_sizeOfRotationParametrization";
+  case 2107: return "new_InverseKinematics";
+  case 2108: return "delete_InverseKinematics";
+  case 2109: return "InverseKinematics_loadModelFromFile";
+  case 2110: return "InverseKinematics_setModel";
+  case 2111: return "InverseKinematics_setJointLimits";
+  case 2112: return "InverseKinematics_getJointLimits";
+  case 2113: return "InverseKinematics_clearProblem";
+  case 2114: return "InverseKinematics_setFloatingBaseOnFrameNamed";
+  case 2115: return "InverseKinematics_setRobotConfiguration";
+  case 2116: return "InverseKinematics_setCurrentRobotConfiguration";
+  case 2117: return "InverseKinematics_setJointConfiguration";
+  case 2118: return "InverseKinematics_setRotationParametrization";
+  case 2119: return "InverseKinematics_rotationParametrization";
+  case 2120: return "InverseKinematics_setMaxIterations";
+  case 2121: return "InverseKinematics_maxIterations";
+  case 2122: return "InverseKinematics_setMaxCPUTime";
+  case 2123: return "InverseKinematics_maxCPUTime";
+  case 2124: return "InverseKinematics_setCostTolerance";
+  case 2125: return "InverseKinematics_costTolerance";
+  case 2126: return "InverseKinematics_setConstraintsTolerance";
+  case 2127: return "InverseKinematics_constraintsTolerance";
+  case 2128: return "InverseKinematics_setVerbosity";
+  case 2129: return "InverseKinematics_linearSolverName";
+  case 2130: return "InverseKinematics_setLinearSolverName";
+  case 2131: return "InverseKinematics_addFrameConstraint";
+  case 2132: return "InverseKinematics_addFramePositionConstraint";
+  case 2133: return "InverseKinematics_addFrameRotationConstraint";
+  case 2134: return "InverseKinematics_activateFrameConstraint";
+  case 2135: return "InverseKinematics_deactivateFrameConstraint";
+  case 2136: return "InverseKinematics_isFrameConstraintActive";
+  case 2137: return "InverseKinematics_addCenterOfMassProjectionConstraint";
+  case 2138: return "InverseKinematics_getCenterOfMassProjectionMargin";
+  case 2139: return "InverseKinematics_getCenterOfMassProjectConstraintConvexHull";
+  case 2140: return "InverseKinematics_addTarget";
+  case 2141: return "InverseKinematics_addPositionTarget";
+  case 2142: return "InverseKinematics_addRotationTarget";
+  case 2143: return "InverseKinematics_updateTarget";
+  case 2144: return "InverseKinematics_updatePositionTarget";
+  case 2145: return "InverseKinematics_updateRotationTarget";
+  case 2146: return "InverseKinematics_setDefaultTargetResolutionMode";
+  case 2147: return "InverseKinematics_defaultTargetResolutionMode";
+  case 2148: return "InverseKinematics_setTargetResolutionMode";
+  case 2149: return "InverseKinematics_targetResolutionMode";
+  case 2150: return "InverseKinematics_setDesiredJointConfiguration";
+  case 2151: return "InverseKinematics_setDesiredFullJointsConfiguration";
+  case 2152: return "InverseKinematics_setDesiredReducedJointConfiguration";
+  case 2153: return "InverseKinematics_setInitialCondition";
+  case 2154: return "InverseKinematics_setFullJointsInitialCondition";
+  case 2155: return "InverseKinematics_setReducedInitialCondition";
+  case 2156: return "InverseKinematics_solve";
+  case 2157: return "InverseKinematics_getSolution";
+  case 2158: return "InverseKinematics_getFullJointsSolution";
+  case 2159: return "InverseKinematics_getReducedSolution";
+  case 2160: return "InverseKinematics_getPoseForFrame";
+  case 2161: return "InverseKinematics_model";
+  case 2162: return "InverseKinematics_fullModel";
+  case 2163: return "InverseKinematics_reducedModel";
+  case 2164: return "InverseKinematics_setCOMTarget";
+  case 2165: return "InverseKinematics_setCOMAsConstraint";
+  case 2166: return "InverseKinematics_setCOMAsConstraintTolerance";
+  case 2167: return "InverseKinematics_isCOMAConstraint";
+  case 2168: return "InverseKinematics_isCOMTargetActive";
+  case 2169: return "InverseKinematics_deactivateCOMTarget";
+  case 2170: return "InverseKinematics_setCOMConstraintProjectionDirection";
+  case 2171: return "new_DynamicsComputations";
+  case 2172: return "delete_DynamicsComputations";
+  case 2173: return "DynamicsComputations_loadRobotModelFromFile";
+  case 2174: return "DynamicsComputations_loadRobotModelFromString";
+  case 2175: return "DynamicsComputations_isValid";
+  case 2176: return "DynamicsComputations_getNrOfDegreesOfFreedom";
+  case 2177: return "DynamicsComputations_getDescriptionOfDegreeOfFreedom";
+  case 2178: return "DynamicsComputations_getDescriptionOfDegreesOfFreedom";
+  case 2179: return "DynamicsComputations_getNrOfLinks";
+  case 2180: return "DynamicsComputations_getNrOfFrames";
+  case 2181: return "DynamicsComputations_getFloatingBase";
+  case 2182: return "DynamicsComputations_setFloatingBase";
+  case 2183: return "DynamicsComputations_setRobotState";
+  case 2184: return "DynamicsComputations_getWorldBaseTransform";
+  case 2185: return "DynamicsComputations_getBaseTwist";
+  case 2186: return "DynamicsComputations_getJointPos";
+  case 2187: return "DynamicsComputations_getJointVel";
+  case 2188: return "DynamicsComputations_getFrameIndex";
+  case 2189: return "DynamicsComputations_getFrameName";
+  case 2190: return "DynamicsComputations_getWorldTransform";
+  case 2191: return "DynamicsComputations_getRelativeTransform";
+  case 2192: return "DynamicsComputations_getFrameTwist";
+  case 2193: return "DynamicsComputations_getFrameTwistInWorldOrient";
+  case 2194: return "DynamicsComputations_getFrameProperSpatialAcceleration";
+  case 2195: return "DynamicsComputations_getLinkIndex";
+  case 2196: return "DynamicsComputations_getLinkInertia";
+  case 2197: return "DynamicsComputations_getJointIndex";
+  case 2198: return "DynamicsComputations_getJointName";
+  case 2199: return "DynamicsComputations_getJointLimits";
+  case 2200: return "DynamicsComputations_inverseDynamics";
+  case 2201: return "DynamicsComputations_getFreeFloatingMassMatrix";
+  case 2202: return "DynamicsComputations_getFrameJacobian";
+  case 2203: return "DynamicsComputations_getDynamicsRegressor";
+  case 2204: return "DynamicsComputations_getModelDynamicsParameters";
+  case 2205: return "DynamicsComputations_getCenterOfMass";
+  case 2206: return "DynamicsComputations_getCenterOfMassJacobian";
   default: return 0;
   }
 }
@@ -107659,1975 +111355,2049 @@ void mexFunction(int resc, mxArray *resv[], int argc, const mxArray *argv[]) {
   case 161: flag=_wrap_VectorDynSize_brace(resc,resv,argc,(mxArray**)(argv)); break;
   case 162: flag=_wrap_VectorDynSize_getVal(resc,resv,argc,(mxArray**)(argv)); break;
   case 163: flag=_wrap_VectorDynSize_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 164: flag=_wrap_VectorDynSize_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 165: flag=_wrap_VectorDynSize_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 166: flag=_wrap_VectorDynSize_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 167: flag=_wrap_VectorDynSize_reserve(resc,resv,argc,(mxArray**)(argv)); break;
-  case 168: flag=_wrap_VectorDynSize_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 169: flag=_wrap_VectorDynSize_shrink_to_fit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 170: flag=_wrap_VectorDynSize_capacity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 171: flag=_wrap_VectorDynSize_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 172: flag=_wrap_VectorDynSize_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 173: flag=_wrap_VectorDynSize_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 174: flag=_wrap_VectorDynSize_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 175: flag=_wrap_VectorDynSize_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 176: flag=_wrap_new_Matrix1x6(resc,resv,argc,(mxArray**)(argv)); break;
-  case 177: flag=_wrap_Matrix1x6_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 178: flag=_wrap_Matrix1x6_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 179: flag=_wrap_Matrix1x6_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 180: flag=_wrap_Matrix1x6_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 181: flag=_wrap_Matrix1x6_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 182: flag=_wrap_Matrix1x6_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 183: flag=_wrap_Matrix1x6_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 184: flag=_wrap_Matrix1x6_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 185: flag=_wrap_Matrix1x6_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 186: flag=_wrap_Matrix1x6_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 187: flag=_wrap_Matrix1x6_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 188: flag=_wrap_Matrix1x6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 189: flag=_wrap_Matrix1x6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 190: flag=_wrap_delete_Matrix1x6(resc,resv,argc,(mxArray**)(argv)); break;
-  case 191: flag=_wrap_new_Matrix2x3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 192: flag=_wrap_Matrix2x3_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 193: flag=_wrap_Matrix2x3_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 194: flag=_wrap_Matrix2x3_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 195: flag=_wrap_Matrix2x3_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 196: flag=_wrap_Matrix2x3_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 197: flag=_wrap_Matrix2x3_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 198: flag=_wrap_Matrix2x3_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 199: flag=_wrap_Matrix2x3_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 200: flag=_wrap_Matrix2x3_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 201: flag=_wrap_Matrix2x3_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 202: flag=_wrap_Matrix2x3_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 203: flag=_wrap_Matrix2x3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 204: flag=_wrap_Matrix2x3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 205: flag=_wrap_delete_Matrix2x3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 206: flag=_wrap_new_Matrix3x3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 207: flag=_wrap_Matrix3x3_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 208: flag=_wrap_Matrix3x3_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 209: flag=_wrap_Matrix3x3_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 210: flag=_wrap_Matrix3x3_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 211: flag=_wrap_Matrix3x3_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 212: flag=_wrap_Matrix3x3_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 213: flag=_wrap_Matrix3x3_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 214: flag=_wrap_Matrix3x3_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 215: flag=_wrap_Matrix3x3_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 216: flag=_wrap_Matrix3x3_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 217: flag=_wrap_Matrix3x3_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 218: flag=_wrap_Matrix3x3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 219: flag=_wrap_Matrix3x3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 220: flag=_wrap_delete_Matrix3x3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 221: flag=_wrap_new_Matrix4x4(resc,resv,argc,(mxArray**)(argv)); break;
-  case 222: flag=_wrap_Matrix4x4_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 223: flag=_wrap_Matrix4x4_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 224: flag=_wrap_Matrix4x4_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 225: flag=_wrap_Matrix4x4_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 226: flag=_wrap_Matrix4x4_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 227: flag=_wrap_Matrix4x4_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 228: flag=_wrap_Matrix4x4_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 229: flag=_wrap_Matrix4x4_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 230: flag=_wrap_Matrix4x4_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 231: flag=_wrap_Matrix4x4_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 232: flag=_wrap_Matrix4x4_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 233: flag=_wrap_Matrix4x4_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 234: flag=_wrap_Matrix4x4_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 235: flag=_wrap_delete_Matrix4x4(resc,resv,argc,(mxArray**)(argv)); break;
-  case 236: flag=_wrap_new_Matrix6x6(resc,resv,argc,(mxArray**)(argv)); break;
-  case 237: flag=_wrap_Matrix6x6_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 238: flag=_wrap_Matrix6x6_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 239: flag=_wrap_Matrix6x6_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 240: flag=_wrap_Matrix6x6_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 241: flag=_wrap_Matrix6x6_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 242: flag=_wrap_Matrix6x6_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 243: flag=_wrap_Matrix6x6_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 244: flag=_wrap_Matrix6x6_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 245: flag=_wrap_Matrix6x6_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 246: flag=_wrap_Matrix6x6_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 247: flag=_wrap_Matrix6x6_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 248: flag=_wrap_Matrix6x6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 249: flag=_wrap_Matrix6x6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 250: flag=_wrap_delete_Matrix6x6(resc,resv,argc,(mxArray**)(argv)); break;
-  case 251: flag=_wrap_new_Matrix6x10(resc,resv,argc,(mxArray**)(argv)); break;
-  case 252: flag=_wrap_Matrix6x10_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 253: flag=_wrap_Matrix6x10_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 254: flag=_wrap_Matrix6x10_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 255: flag=_wrap_Matrix6x10_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 256: flag=_wrap_Matrix6x10_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 257: flag=_wrap_Matrix6x10_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 258: flag=_wrap_Matrix6x10_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 259: flag=_wrap_Matrix6x10_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 260: flag=_wrap_Matrix6x10_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 261: flag=_wrap_Matrix6x10_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 262: flag=_wrap_Matrix6x10_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 263: flag=_wrap_Matrix6x10_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 264: flag=_wrap_Matrix6x10_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 265: flag=_wrap_delete_Matrix6x10(resc,resv,argc,(mxArray**)(argv)); break;
-  case 266: flag=_wrap_new_Matrix10x16(resc,resv,argc,(mxArray**)(argv)); break;
-  case 267: flag=_wrap_Matrix10x16_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 268: flag=_wrap_Matrix10x16_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 269: flag=_wrap_Matrix10x16_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 270: flag=_wrap_Matrix10x16_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 271: flag=_wrap_Matrix10x16_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 272: flag=_wrap_Matrix10x16_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 273: flag=_wrap_Matrix10x16_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 274: flag=_wrap_Matrix10x16_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 275: flag=_wrap_Matrix10x16_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 276: flag=_wrap_Matrix10x16_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 277: flag=_wrap_Matrix10x16_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 278: flag=_wrap_Matrix10x16_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 279: flag=_wrap_Matrix10x16_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 280: flag=_wrap_delete_Matrix10x16(resc,resv,argc,(mxArray**)(argv)); break;
-  case 281: flag=_wrap_new_Vector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 282: flag=_wrap_Vector3_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 283: flag=_wrap_Vector3_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 284: flag=_wrap_Vector3_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 285: flag=_wrap_Vector3_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 286: flag=_wrap_Vector3_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 287: flag=_wrap_Vector3_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 288: flag=_wrap_Vector3_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 289: flag=_wrap_Vector3_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 290: flag=_wrap_Vector3_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 291: flag=_wrap_Vector3_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 292: flag=_wrap_Vector3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 293: flag=_wrap_Vector3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 294: flag=_wrap_delete_Vector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 295: flag=_wrap_new_Vector4(resc,resv,argc,(mxArray**)(argv)); break;
-  case 296: flag=_wrap_Vector4_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 297: flag=_wrap_Vector4_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 298: flag=_wrap_Vector4_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 299: flag=_wrap_Vector4_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 300: flag=_wrap_Vector4_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 301: flag=_wrap_Vector4_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 302: flag=_wrap_Vector4_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 303: flag=_wrap_Vector4_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 304: flag=_wrap_Vector4_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 305: flag=_wrap_Vector4_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 306: flag=_wrap_Vector4_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 307: flag=_wrap_Vector4_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 308: flag=_wrap_delete_Vector4(resc,resv,argc,(mxArray**)(argv)); break;
-  case 309: flag=_wrap_new_Vector6(resc,resv,argc,(mxArray**)(argv)); break;
-  case 310: flag=_wrap_Vector6_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 311: flag=_wrap_Vector6_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 312: flag=_wrap_Vector6_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 313: flag=_wrap_Vector6_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 314: flag=_wrap_Vector6_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 315: flag=_wrap_Vector6_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 316: flag=_wrap_Vector6_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 317: flag=_wrap_Vector6_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 318: flag=_wrap_Vector6_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 319: flag=_wrap_Vector6_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 320: flag=_wrap_Vector6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 321: flag=_wrap_Vector6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 322: flag=_wrap_delete_Vector6(resc,resv,argc,(mxArray**)(argv)); break;
-  case 323: flag=_wrap_new_Vector10(resc,resv,argc,(mxArray**)(argv)); break;
-  case 324: flag=_wrap_Vector10_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 325: flag=_wrap_Vector10_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 326: flag=_wrap_Vector10_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 327: flag=_wrap_Vector10_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 328: flag=_wrap_Vector10_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 329: flag=_wrap_Vector10_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 330: flag=_wrap_Vector10_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 331: flag=_wrap_Vector10_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 332: flag=_wrap_Vector10_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 333: flag=_wrap_Vector10_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 334: flag=_wrap_Vector10_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 335: flag=_wrap_Vector10_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 336: flag=_wrap_delete_Vector10(resc,resv,argc,(mxArray**)(argv)); break;
-  case 337: flag=_wrap_new_Vector16(resc,resv,argc,(mxArray**)(argv)); break;
-  case 338: flag=_wrap_Vector16_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 339: flag=_wrap_Vector16_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 340: flag=_wrap_Vector16_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 341: flag=_wrap_Vector16_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 342: flag=_wrap_Vector16_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 343: flag=_wrap_Vector16_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 344: flag=_wrap_Vector16_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 345: flag=_wrap_Vector16_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 346: flag=_wrap_Vector16_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 347: flag=_wrap_Vector16_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 348: flag=_wrap_Vector16_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 349: flag=_wrap_Vector16_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 350: flag=_wrap_delete_Vector16(resc,resv,argc,(mxArray**)(argv)); break;
-  case 351: flag=_wrap_new_PositionRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 352: flag=_wrap_PositionRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 353: flag=_wrap_PositionRaw_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 354: flag=_wrap_PositionRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 355: flag=_wrap_PositionRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 356: flag=_wrap_PositionRaw_changePointOf(resc,resv,argc,(mxArray**)(argv)); break;
-  case 357: flag=_wrap_PositionRaw_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 358: flag=_wrap_PositionRaw_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 359: flag=_wrap_delete_PositionRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 360: flag=_wrap_new_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 361: flag=_wrap_PositionSemantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 362: flag=_wrap_PositionSemantics_getPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 363: flag=_wrap_PositionSemantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 364: flag=_wrap_PositionSemantics_getReferencePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 365: flag=_wrap_PositionSemantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 366: flag=_wrap_PositionSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 367: flag=_wrap_PositionSemantics_setPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 368: flag=_wrap_PositionSemantics_setBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 369: flag=_wrap_PositionSemantics_setReferencePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 370: flag=_wrap_PositionSemantics_setRefBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 371: flag=_wrap_PositionSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 372: flag=_wrap_PositionSemantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 373: flag=_wrap_PositionSemantics_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 374: flag=_wrap_PositionSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 375: flag=_wrap_PositionSemantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 376: flag=_wrap_PositionSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 377: flag=_wrap_PositionSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 378: flag=_wrap_delete_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 379: flag=_wrap_new_Position(resc,resv,argc,(mxArray**)(argv)); break;
-  case 380: flag=_wrap_Position_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 381: flag=_wrap_Position_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 382: flag=_wrap_Position_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 383: flag=_wrap_Position_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 384: flag=_wrap_Position_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 385: flag=_wrap_Position_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 386: flag=_wrap_Position_changePointOf(resc,resv,argc,(mxArray**)(argv)); break;
-  case 387: flag=_wrap_Position_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 388: flag=_wrap_Position_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 389: flag=_wrap_Position_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 390: flag=_wrap_Position_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 391: flag=_wrap_Position_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 392: flag=_wrap_Position_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 393: flag=_wrap_Position_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 394: flag=_wrap_delete_Position(resc,resv,argc,(mxArray**)(argv)); break;
-  case 395: flag=_wrap_new_GeomVector3Semantics__LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 396: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 397: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 398: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 399: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 400: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 401: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 402: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 403: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 404: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 405: flag=_wrap_delete_GeomVector3Semantics__LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 406: flag=_wrap_new_GeomVector3Semantics__AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 407: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 408: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 409: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 410: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 411: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 412: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 413: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 414: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 415: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 416: flag=_wrap_delete_GeomVector3Semantics__AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 417: flag=_wrap_new_GeomVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 418: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 419: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 420: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 421: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 422: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 423: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 424: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 425: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 426: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 427: flag=_wrap_delete_GeomVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 428: flag=_wrap_new_GeomVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 429: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 430: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 431: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 432: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 433: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 434: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 435: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 436: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 437: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 438: flag=_wrap_delete_GeomVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 439: flag=_wrap_GeomVector3__LinearMotionVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 440: flag=_wrap_GeomVector3__LinearMotionVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 441: flag=_wrap_new_GeomVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 442: flag=_wrap_GeomVector3__LinearMotionVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 443: flag=_wrap_GeomVector3__LinearMotionVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 444: flag=_wrap_GeomVector3__LinearMotionVector3_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 445: flag=_wrap_GeomVector3__LinearMotionVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 446: flag=_wrap_GeomVector3__LinearMotionVector3_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 447: flag=_wrap_GeomVector3__LinearMotionVector3_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 448: flag=_wrap_GeomVector3__LinearMotionVector3_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 449: flag=_wrap_GeomVector3__LinearMotionVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 450: flag=_wrap_delete_GeomVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 451: flag=_wrap_GeomVector3__AngularMotionVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 452: flag=_wrap_GeomVector3__AngularMotionVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 453: flag=_wrap_new_GeomVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 454: flag=_wrap_GeomVector3__AngularMotionVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 455: flag=_wrap_GeomVector3__AngularMotionVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 456: flag=_wrap_GeomVector3__AngularMotionVector3_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 457: flag=_wrap_GeomVector3__AngularMotionVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 458: flag=_wrap_GeomVector3__AngularMotionVector3_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 459: flag=_wrap_GeomVector3__AngularMotionVector3_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 460: flag=_wrap_GeomVector3__AngularMotionVector3_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 461: flag=_wrap_GeomVector3__AngularMotionVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 462: flag=_wrap_delete_GeomVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 463: flag=_wrap_GeomVector3__LinearForceVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 464: flag=_wrap_GeomVector3__LinearForceVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 465: flag=_wrap_new_GeomVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 466: flag=_wrap_GeomVector3__LinearForceVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 467: flag=_wrap_GeomVector3__LinearForceVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 468: flag=_wrap_GeomVector3__LinearForceVector3_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 469: flag=_wrap_GeomVector3__LinearForceVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 470: flag=_wrap_GeomVector3__LinearForceVector3_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 471: flag=_wrap_GeomVector3__LinearForceVector3_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 472: flag=_wrap_GeomVector3__LinearForceVector3_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 473: flag=_wrap_GeomVector3__LinearForceVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 474: flag=_wrap_delete_GeomVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 475: flag=_wrap_GeomVector3__AngularForceVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 476: flag=_wrap_GeomVector3__AngularForceVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 477: flag=_wrap_new_GeomVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 478: flag=_wrap_GeomVector3__AngularForceVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 479: flag=_wrap_GeomVector3__AngularForceVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 480: flag=_wrap_GeomVector3__AngularForceVector3_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 481: flag=_wrap_GeomVector3__AngularForceVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 482: flag=_wrap_GeomVector3__AngularForceVector3_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 483: flag=_wrap_GeomVector3__AngularForceVector3_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 484: flag=_wrap_GeomVector3__AngularForceVector3_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 485: flag=_wrap_GeomVector3__AngularForceVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 486: flag=_wrap_delete_GeomVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 487: flag=_wrap_new_ForceVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 488: flag=_wrap_ForceVector3Semantics__LinearForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 489: flag=_wrap_ForceVector3Semantics__LinearForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 490: flag=_wrap_delete_ForceVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 491: flag=_wrap_new_ForceVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 492: flag=_wrap_ForceVector3Semantics__AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 493: flag=_wrap_ForceVector3Semantics__AngularForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 494: flag=_wrap_delete_ForceVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 495: flag=_wrap_new_MotionVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 496: flag=_wrap_MotionVector3__LinearMotionVector3_cross(resc,resv,argc,(mxArray**)(argv)); break;
-  case 497: flag=_wrap_delete_MotionVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 498: flag=_wrap_new_MotionVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 499: flag=_wrap_MotionVector3__AngularMotionVector3_cross(resc,resv,argc,(mxArray**)(argv)); break;
-  case 500: flag=_wrap_delete_MotionVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 501: flag=_wrap_new_ForceVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 502: flag=_wrap_delete_ForceVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 503: flag=_wrap_new_ForceVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 504: flag=_wrap_delete_ForceVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 505: flag=_wrap_new_LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 506: flag=_wrap_LinearMotionVector3Semantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 507: flag=_wrap_LinearMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 508: flag=_wrap_delete_LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 509: flag=_wrap_new_LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 510: flag=_wrap_LinearMotionVector3_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 511: flag=_wrap_delete_LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 512: flag=_wrap_new_AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 513: flag=_wrap_delete_AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 514: flag=_wrap_new_AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 515: flag=_wrap_AngularMotionVector3_exp(resc,resv,argc,(mxArray**)(argv)); break;
-  case 516: flag=_wrap_delete_AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 517: flag=_wrap_new_LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 518: flag=_wrap_delete_LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 519: flag=_wrap_new_LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 520: flag=_wrap_delete_LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 521: flag=_wrap_new_AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 522: flag=_wrap_AngularForceVector3Semantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 523: flag=_wrap_AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 524: flag=_wrap_delete_AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 525: flag=_wrap_new_AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 526: flag=_wrap_AngularForceVector3_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 527: flag=_wrap_delete_AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 528: flag=_wrap_new_SpatialMotionVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 529: flag=_wrap_SpatialMotionVectorSemanticsBase_check_linear2angularConsistency(resc,resv,argc,(mxArray**)(argv)); break;
-  case 530: flag=_wrap_SpatialMotionVectorSemanticsBase_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 531: flag=_wrap_SpatialMotionVectorSemanticsBase_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 532: flag=_wrap_delete_SpatialMotionVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 533: flag=_wrap_new_SpatialForceVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 534: flag=_wrap_SpatialForceVectorSemanticsBase_check_linear2angularConsistency(resc,resv,argc,(mxArray**)(argv)); break;
-  case 535: flag=_wrap_SpatialForceVectorSemanticsBase_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 536: flag=_wrap_SpatialForceVectorSemanticsBase_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 537: flag=_wrap_delete_SpatialForceVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 538: flag=_wrap_new_SpatialMotionVectorBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 539: flag=_wrap_SpatialMotionVectorBase_getLinearVec3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 540: flag=_wrap_SpatialMotionVectorBase_getAngularVec3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 541: flag=_wrap_SpatialMotionVectorBase_setLinearVec3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 542: flag=_wrap_SpatialMotionVectorBase_setAngularVec3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 543: flag=_wrap_SpatialMotionVectorBase_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 544: flag=_wrap_SpatialMotionVectorBase_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 545: flag=_wrap_SpatialMotionVectorBase_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 546: flag=_wrap_SpatialMotionVectorBase_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 547: flag=_wrap_SpatialMotionVectorBase_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 548: flag=_wrap_SpatialMotionVectorBase_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 549: flag=_wrap_SpatialMotionVectorBase_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 550: flag=_wrap_SpatialMotionVectorBase_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 551: flag=_wrap_SpatialMotionVectorBase_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 552: flag=_wrap_SpatialMotionVectorBase_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 553: flag=_wrap_SpatialMotionVectorBase_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 554: flag=_wrap_SpatialMotionVectorBase_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 555: flag=_wrap_SpatialMotionVectorBase_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 556: flag=_wrap_SpatialMotionVectorBase_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 557: flag=_wrap_SpatialMotionVectorBase_asVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 558: flag=_wrap_SpatialMotionVectorBase_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 559: flag=_wrap_SpatialMotionVectorBase_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 560: flag=_wrap_SpatialMotionVectorBase_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 561: flag=_wrap_SpatialMotionVectorBase_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 562: flag=_wrap_delete_SpatialMotionVectorBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 563: flag=_wrap_new_SpatialForceVectorBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 564: flag=_wrap_SpatialForceVectorBase_getLinearVec3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 565: flag=_wrap_SpatialForceVectorBase_getAngularVec3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 566: flag=_wrap_SpatialForceVectorBase_setLinearVec3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 567: flag=_wrap_SpatialForceVectorBase_setAngularVec3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 568: flag=_wrap_SpatialForceVectorBase_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 569: flag=_wrap_SpatialForceVectorBase_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 570: flag=_wrap_SpatialForceVectorBase_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 571: flag=_wrap_SpatialForceVectorBase_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 572: flag=_wrap_SpatialForceVectorBase_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 573: flag=_wrap_SpatialForceVectorBase_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 574: flag=_wrap_SpatialForceVectorBase_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 575: flag=_wrap_SpatialForceVectorBase_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 576: flag=_wrap_SpatialForceVectorBase_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 577: flag=_wrap_SpatialForceVectorBase_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 578: flag=_wrap_SpatialForceVectorBase_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 579: flag=_wrap_SpatialForceVectorBase_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 580: flag=_wrap_SpatialForceVectorBase_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 581: flag=_wrap_SpatialForceVectorBase_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 582: flag=_wrap_SpatialForceVectorBase_asVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 583: flag=_wrap_SpatialForceVectorBase_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 584: flag=_wrap_SpatialForceVectorBase_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 585: flag=_wrap_SpatialForceVectorBase_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 586: flag=_wrap_SpatialForceVectorBase_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 587: flag=_wrap_delete_SpatialForceVectorBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 588: flag=_wrap_new_Dummy(resc,resv,argc,(mxArray**)(argv)); break;
-  case 589: flag=_wrap_delete_Dummy(resc,resv,argc,(mxArray**)(argv)); break;
-  case 590: flag=_wrap_new_SpatialMotionVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 591: flag=_wrap_SpatialMotionVector_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 592: flag=_wrap_SpatialMotionVector_cross(resc,resv,argc,(mxArray**)(argv)); break;
-  case 593: flag=_wrap_SpatialMotionVector_asCrossProductMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 594: flag=_wrap_SpatialMotionVector_asCrossProductMatrixWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 595: flag=_wrap_SpatialMotionVector_exp(resc,resv,argc,(mxArray**)(argv)); break;
-  case 596: flag=_wrap_delete_SpatialMotionVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 597: flag=_wrap_new_SpatialForceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 598: flag=_wrap_delete_SpatialForceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 599: flag=_wrap_SpatialForceVector_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 600: flag=_wrap_new_Twist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 601: flag=_wrap_Twist_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 602: flag=_wrap_Twist_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 603: flag=_wrap_Twist_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 604: flag=_wrap_Twist_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 605: flag=_wrap_delete_Twist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 606: flag=_wrap_new_Wrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 607: flag=_wrap_Wrench_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 608: flag=_wrap_Wrench_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 609: flag=_wrap_Wrench_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 610: flag=_wrap_delete_Wrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 611: flag=_wrap_new_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 612: flag=_wrap_SpatialMomentum_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 613: flag=_wrap_SpatialMomentum_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 614: flag=_wrap_SpatialMomentum_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 615: flag=_wrap_delete_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 616: flag=_wrap_new_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 617: flag=_wrap_SpatialAcc_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 618: flag=_wrap_SpatialAcc_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 619: flag=_wrap_SpatialAcc_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 620: flag=_wrap_delete_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 621: flag=_wrap_new_ClassicalAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 622: flag=_wrap_ClassicalAcc_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 623: flag=_wrap_ClassicalAcc_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 624: flag=_wrap_ClassicalAcc_fromSpatial(resc,resv,argc,(mxArray**)(argv)); break;
-  case 625: flag=_wrap_ClassicalAcc_toSpatial(resc,resv,argc,(mxArray**)(argv)); break;
-  case 626: flag=_wrap_delete_ClassicalAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 627: flag=_wrap_new_Direction(resc,resv,argc,(mxArray**)(argv)); break;
-  case 628: flag=_wrap_Direction_Normalize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 629: flag=_wrap_Direction_isParallel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 630: flag=_wrap_Direction_isPerpendicular(resc,resv,argc,(mxArray**)(argv)); break;
-  case 631: flag=_wrap_Direction_reverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 632: flag=_wrap_Direction_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 633: flag=_wrap_Direction_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 634: flag=_wrap_Direction_Default(resc,resv,argc,(mxArray**)(argv)); break;
-  case 635: flag=_wrap_delete_Direction(resc,resv,argc,(mxArray**)(argv)); break;
-  case 636: flag=_wrap_new_Axis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 637: flag=_wrap_Axis_getDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 638: flag=_wrap_Axis_getOrigin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 639: flag=_wrap_Axis_setDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 640: flag=_wrap_Axis_setOrigin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 641: flag=_wrap_Axis_getRotationTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 642: flag=_wrap_Axis_getRotationTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 643: flag=_wrap_Axis_getRotationTwist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 644: flag=_wrap_Axis_getRotationSpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 645: flag=_wrap_Axis_getTranslationTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 646: flag=_wrap_Axis_getTranslationTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 647: flag=_wrap_Axis_getTranslationTwist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 648: flag=_wrap_Axis_getTranslationSpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 649: flag=_wrap_Axis_isParallel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 650: flag=_wrap_Axis_reverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 651: flag=_wrap_Axis_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 652: flag=_wrap_Axis_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 653: flag=_wrap_delete_Axis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 654: flag=_wrap_new_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 655: flag=_wrap_RotationalInertiaRaw_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 656: flag=_wrap_delete_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 657: flag=_wrap_new_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 658: flag=_wrap_SpatialInertiaRaw_fromRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 659: flag=_wrap_SpatialInertiaRaw_getMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 660: flag=_wrap_SpatialInertiaRaw_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 661: flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 662: flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 663: flag=_wrap_SpatialInertiaRaw_combine(resc,resv,argc,(mxArray**)(argv)); break;
-  case 664: flag=_wrap_SpatialInertiaRaw_multiply(resc,resv,argc,(mxArray**)(argv)); break;
-  case 665: flag=_wrap_SpatialInertiaRaw_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 666: flag=_wrap_delete_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 667: flag=_wrap_new_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 668: flag=_wrap_SpatialInertia_combine(resc,resv,argc,(mxArray**)(argv)); break;
-  case 669: flag=_wrap_SpatialInertia_asMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 670: flag=_wrap_SpatialInertia_applyInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 671: flag=_wrap_SpatialInertia_getInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 672: flag=_wrap_SpatialInertia_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 673: flag=_wrap_SpatialInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 674: flag=_wrap_SpatialInertia_biasWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 675: flag=_wrap_SpatialInertia_biasWrenchDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 676: flag=_wrap_SpatialInertia_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 677: flag=_wrap_SpatialInertia_asVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 678: flag=_wrap_SpatialInertia_fromVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 679: flag=_wrap_SpatialInertia_isPhysicallyConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 680: flag=_wrap_SpatialInertia_momentumRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 681: flag=_wrap_SpatialInertia_momentumDerivativeRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 682: flag=_wrap_SpatialInertia_momentumDerivativeSlotineLiRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 683: flag=_wrap_delete_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 684: flag=_wrap_new_ArticulatedBodyInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 685: flag=_wrap_ArticulatedBodyInertia_getLinearLinearSubmatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 686: flag=_wrap_ArticulatedBodyInertia_getLinearAngularSubmatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 687: flag=_wrap_ArticulatedBodyInertia_getAngularAngularSubmatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 688: flag=_wrap_ArticulatedBodyInertia_combine(resc,resv,argc,(mxArray**)(argv)); break;
-  case 689: flag=_wrap_ArticulatedBodyInertia_applyInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 690: flag=_wrap_ArticulatedBodyInertia_asMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 691: flag=_wrap_ArticulatedBodyInertia_getInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 692: flag=_wrap_ArticulatedBodyInertia_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 693: flag=_wrap_ArticulatedBodyInertia_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 694: flag=_wrap_ArticulatedBodyInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 695: flag=_wrap_ArticulatedBodyInertia_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 696: flag=_wrap_ArticulatedBodyInertia_ABADyadHelper(resc,resv,argc,(mxArray**)(argv)); break;
-  case 697: flag=_wrap_ArticulatedBodyInertia_ABADyadHelperLin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 698: flag=_wrap_delete_ArticulatedBodyInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 699: flag=_wrap_RigidBodyInertiaNonLinearParametrization_mass_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 700: flag=_wrap_RigidBodyInertiaNonLinearParametrization_mass_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 701: flag=_wrap_RigidBodyInertiaNonLinearParametrization_com_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 702: flag=_wrap_RigidBodyInertiaNonLinearParametrization_com_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 703: flag=_wrap_RigidBodyInertiaNonLinearParametrization_link_R_centroidal_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 704: flag=_wrap_RigidBodyInertiaNonLinearParametrization_link_R_centroidal_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 705: flag=_wrap_RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 706: flag=_wrap_RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 707: flag=_wrap_RigidBodyInertiaNonLinearParametrization_getLinkCentroidalTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 708: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromRigidBodyInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 709: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 710: flag=_wrap_RigidBodyInertiaNonLinearParametrization_toRigidBodyInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 711: flag=_wrap_RigidBodyInertiaNonLinearParametrization_isPhysicallyConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 712: flag=_wrap_RigidBodyInertiaNonLinearParametrization_asVectorWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break;
-  case 713: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromVectorWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break;
-  case 714: flag=_wrap_RigidBodyInertiaNonLinearParametrization_getGradientWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break;
-  case 715: flag=_wrap_new_RigidBodyInertiaNonLinearParametrization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 716: flag=_wrap_delete_RigidBodyInertiaNonLinearParametrization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 717: flag=_wrap_new_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 718: flag=_wrap_RotationRaw_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 719: flag=_wrap_RotationRaw_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 720: flag=_wrap_RotationRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 721: flag=_wrap_RotationRaw_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 722: flag=_wrap_RotationRaw_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
-  case 723: flag=_wrap_RotationRaw_RotX(resc,resv,argc,(mxArray**)(argv)); break;
-  case 724: flag=_wrap_RotationRaw_RotY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 725: flag=_wrap_RotationRaw_RotZ(resc,resv,argc,(mxArray**)(argv)); break;
-  case 726: flag=_wrap_RotationRaw_RPY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 727: flag=_wrap_RotationRaw_Identity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 728: flag=_wrap_RotationRaw_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 729: flag=_wrap_RotationRaw_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 730: flag=_wrap_delete_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 731: flag=_wrap_new_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 732: flag=_wrap_RotationSemantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
-  case 733: flag=_wrap_RotationSemantics_getOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 734: flag=_wrap_RotationSemantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 735: flag=_wrap_RotationSemantics_getReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 736: flag=_wrap_RotationSemantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 737: flag=_wrap_RotationSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 738: flag=_wrap_RotationSemantics_setOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 739: flag=_wrap_RotationSemantics_setBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 740: flag=_wrap_RotationSemantics_setReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 741: flag=_wrap_RotationSemantics_setRefBody(resc,resv,argc,(mxArray**)(argv)); break;
-  case 742: flag=_wrap_RotationSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 743: flag=_wrap_RotationSemantics_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 744: flag=_wrap_RotationSemantics_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 745: flag=_wrap_RotationSemantics_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
-  case 746: flag=_wrap_RotationSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 747: flag=_wrap_RotationSemantics_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 748: flag=_wrap_RotationSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 749: flag=_wrap_RotationSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 750: flag=_wrap_delete_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 751: flag=_wrap_new_Rotation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 752: flag=_wrap_Rotation_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 753: flag=_wrap_Rotation_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 754: flag=_wrap_Rotation_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 755: flag=_wrap_Rotation_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 756: flag=_wrap_Rotation_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 757: flag=_wrap_Rotation_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 758: flag=_wrap_Rotation_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
-  case 759: flag=_wrap_Rotation_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 760: flag=_wrap_Rotation_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 761: flag=_wrap_Rotation_log(resc,resv,argc,(mxArray**)(argv)); break;
-  case 762: flag=_wrap_Rotation_fromQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
-  case 763: flag=_wrap_Rotation_getRPY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 764: flag=_wrap_Rotation_asRPY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 765: flag=_wrap_Rotation_getQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
-  case 766: flag=_wrap_Rotation_asQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
-  case 767: flag=_wrap_Rotation_RotX(resc,resv,argc,(mxArray**)(argv)); break;
-  case 768: flag=_wrap_Rotation_RotY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 769: flag=_wrap_Rotation_RotZ(resc,resv,argc,(mxArray**)(argv)); break;
-  case 770: flag=_wrap_Rotation_RotAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 771: flag=_wrap_Rotation_RotAxisDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 772: flag=_wrap_Rotation_RPY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 773: flag=_wrap_Rotation_RPYRightTrivializedDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 774: flag=_wrap_Rotation_RPYRightTrivializedDerivativeRateOfChange(resc,resv,argc,(mxArray**)(argv)); break;
-  case 775: flag=_wrap_Rotation_RPYRightTrivializedDerivativeInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 776: flag=_wrap_Rotation_RPYRightTrivializedDerivativeInverseRateOfChange(resc,resv,argc,(mxArray**)(argv)); break;
-  case 777: flag=_wrap_Rotation_QuaternionRightTrivializedDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 778: flag=_wrap_Rotation_QuaternionRightTrivializedDerivativeInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 779: flag=_wrap_Rotation_Identity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 780: flag=_wrap_Rotation_RotationFromQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
-  case 781: flag=_wrap_Rotation_leftJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 782: flag=_wrap_Rotation_leftJacobianInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 783: flag=_wrap_Rotation_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 784: flag=_wrap_Rotation_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 785: flag=_wrap_delete_Rotation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 786: flag=_wrap_new_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 787: flag=_wrap_TransformSemantics_getRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 788: flag=_wrap_TransformSemantics_getPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 789: flag=_wrap_TransformSemantics_setRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 790: flag=_wrap_TransformSemantics_setPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 791: flag=_wrap_TransformSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 792: flag=_wrap_TransformSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 793: flag=_wrap_delete_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 794: flag=_wrap_new_Transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 795: flag=_wrap_Transform_fromHomogeneousTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 796: flag=_wrap_Transform_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 797: flag=_wrap_Transform_getRotation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 798: flag=_wrap_Transform_getPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 799: flag=_wrap_Transform_setRotation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 800: flag=_wrap_Transform_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 801: flag=_wrap_Transform_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 802: flag=_wrap_Transform_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 803: flag=_wrap_Transform_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 804: flag=_wrap_Transform_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 805: flag=_wrap_Transform_Identity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 806: flag=_wrap_Transform_asHomogeneousTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 807: flag=_wrap_Transform_asAdjointTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 808: flag=_wrap_Transform_asAdjointTransformWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 809: flag=_wrap_Transform_log(resc,resv,argc,(mxArray**)(argv)); break;
-  case 810: flag=_wrap_Transform_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 811: flag=_wrap_Transform_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 812: flag=_wrap_delete_Transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 813: flag=_wrap_new_TransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 814: flag=_wrap_delete_TransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 815: flag=_wrap_TransformDerivative_getRotationDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 816: flag=_wrap_TransformDerivative_getPositionDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 817: flag=_wrap_TransformDerivative_setRotationDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 818: flag=_wrap_TransformDerivative_setPositionDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 819: flag=_wrap_TransformDerivative_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 820: flag=_wrap_TransformDerivative_asHomogeneousTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 821: flag=_wrap_TransformDerivative_asAdjointTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 822: flag=_wrap_TransformDerivative_asAdjointTransformWrenchDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 823: flag=_wrap_TransformDerivative_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 824: flag=_wrap_TransformDerivative_derivativeOfInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 825: flag=_wrap_TransformDerivative_transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 826: flag=_wrap_dynamic_extent_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 827: flag=_wrap_DynamicSpan_extent_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 828: flag=_wrap_new_DynamicSpan(resc,resv,argc,(mxArray**)(argv)); break;
-  case 829: flag=_wrap_delete_DynamicSpan(resc,resv,argc,(mxArray**)(argv)); break;
-  case 830: flag=_wrap_DynamicSpan_first(resc,resv,argc,(mxArray**)(argv)); break;
-  case 831: flag=_wrap_DynamicSpan_last(resc,resv,argc,(mxArray**)(argv)); break;
-  case 832: flag=_wrap_DynamicSpan_subspan(resc,resv,argc,(mxArray**)(argv)); break;
-  case 833: flag=_wrap_DynamicSpan_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 834: flag=_wrap_DynamicSpan_size_bytes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 835: flag=_wrap_DynamicSpan_empty(resc,resv,argc,(mxArray**)(argv)); break;
-  case 836: flag=_wrap_DynamicSpan_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 837: flag=_wrap_DynamicSpan_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 838: flag=_wrap_DynamicSpan_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 839: flag=_wrap_DynamicSpan_at(resc,resv,argc,(mxArray**)(argv)); break;
-  case 840: flag=_wrap_DynamicSpan_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 841: flag=_wrap_DynamicSpan_begin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 842: flag=_wrap_DynamicSpan_end(resc,resv,argc,(mxArray**)(argv)); break;
-  case 843: flag=_wrap_DynamicSpan_cbegin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 844: flag=_wrap_DynamicSpan_cend(resc,resv,argc,(mxArray**)(argv)); break;
-  case 845: flag=_wrap_DynamicSpan_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 846: flag=_wrap_DynamicSpan_rend(resc,resv,argc,(mxArray**)(argv)); break;
-  case 847: flag=_wrap_DynamicSpan_crbegin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 848: flag=_wrap_DynamicSpan_crend(resc,resv,argc,(mxArray**)(argv)); break;
-  case 849: flag=_wrap_LINK_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 850: flag=_wrap_LINK_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 851: flag=_wrap_LINK_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 852: flag=_wrap_LINK_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 853: flag=_wrap_JOINT_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 854: flag=_wrap_JOINT_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 855: flag=_wrap_JOINT_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 856: flag=_wrap_JOINT_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 857: flag=_wrap_DOF_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 858: flag=_wrap_DOF_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 859: flag=_wrap_DOF_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 860: flag=_wrap_DOF_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 861: flag=_wrap_FRAME_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 862: flag=_wrap_FRAME_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 863: flag=_wrap_FRAME_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 864: flag=_wrap_FRAME_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 865: flag=_wrap_TRAVERSAL_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 866: flag=_wrap_TRAVERSAL_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 867: flag=_wrap_new_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 868: flag=_wrap_LinkPositions_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 869: flag=_wrap_LinkPositions_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 870: flag=_wrap_LinkPositions_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 871: flag=_wrap_LinkPositions_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 872: flag=_wrap_LinkPositions_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 873: flag=_wrap_delete_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 874: flag=_wrap_new_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 875: flag=_wrap_LinkWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 876: flag=_wrap_LinkWrenches_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 877: flag=_wrap_LinkWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 878: flag=_wrap_LinkWrenches_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 879: flag=_wrap_LinkWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 880: flag=_wrap_LinkWrenches_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 881: flag=_wrap_delete_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 882: flag=_wrap_new_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 883: flag=_wrap_LinkInertias_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 884: flag=_wrap_LinkInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 885: flag=_wrap_LinkInertias_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 886: flag=_wrap_delete_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 887: flag=_wrap_new_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 888: flag=_wrap_LinkArticulatedBodyInertias_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 889: flag=_wrap_LinkArticulatedBodyInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 890: flag=_wrap_LinkArticulatedBodyInertias_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 891: flag=_wrap_delete_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 892: flag=_wrap_new_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 893: flag=_wrap_LinkVelArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 894: flag=_wrap_LinkVelArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 895: flag=_wrap_LinkVelArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 896: flag=_wrap_LinkVelArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 897: flag=_wrap_LinkVelArray_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 898: flag=_wrap_delete_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 899: flag=_wrap_new_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 900: flag=_wrap_LinkAccArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 901: flag=_wrap_LinkAccArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 902: flag=_wrap_LinkAccArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 903: flag=_wrap_LinkAccArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 904: flag=_wrap_LinkAccArray_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 905: flag=_wrap_delete_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 906: flag=_wrap_new_Link(resc,resv,argc,(mxArray**)(argv)); break;
-  case 907: flag=_wrap_Link_inertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 908: flag=_wrap_Link_setInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 909: flag=_wrap_Link_getInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 910: flag=_wrap_Link_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 911: flag=_wrap_Link_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 912: flag=_wrap_delete_Link(resc,resv,argc,(mxArray**)(argv)); break;
-  case 913: flag=_wrap_delete_IJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 914: flag=_wrap_IJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 915: flag=_wrap_IJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 916: flag=_wrap_IJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 917: flag=_wrap_IJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 918: flag=_wrap_IJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 919: flag=_wrap_IJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 920: flag=_wrap_IJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 921: flag=_wrap_IJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 922: flag=_wrap_IJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 923: flag=_wrap_IJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 924: flag=_wrap_IJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 925: flag=_wrap_IJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 926: flag=_wrap_IJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 927: flag=_wrap_IJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 928: flag=_wrap_IJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 929: flag=_wrap_IJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 930: flag=_wrap_IJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
-  case 931: flag=_wrap_IJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 932: flag=_wrap_IJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 933: flag=_wrap_IJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 934: flag=_wrap_IJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 935: flag=_wrap_IJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 936: flag=_wrap_IJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 937: flag=_wrap_IJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 938: flag=_wrap_IJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 939: flag=_wrap_IJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 940: flag=_wrap_IJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 941: flag=_wrap_IJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 942: flag=_wrap_IJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 943: flag=_wrap_IJoint_isRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 944: flag=_wrap_IJoint_isFixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 945: flag=_wrap_IJoint_asRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 946: flag=_wrap_IJoint_asFixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 947: flag=_wrap_new_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 948: flag=_wrap_delete_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 949: flag=_wrap_FixedJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 950: flag=_wrap_FixedJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 951: flag=_wrap_FixedJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 952: flag=_wrap_FixedJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 953: flag=_wrap_FixedJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 954: flag=_wrap_FixedJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 955: flag=_wrap_FixedJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 956: flag=_wrap_FixedJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 957: flag=_wrap_FixedJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 958: flag=_wrap_FixedJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 959: flag=_wrap_FixedJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 960: flag=_wrap_FixedJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 961: flag=_wrap_FixedJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 962: flag=_wrap_FixedJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 963: flag=_wrap_FixedJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 964: flag=_wrap_FixedJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 965: flag=_wrap_FixedJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
-  case 966: flag=_wrap_FixedJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 967: flag=_wrap_FixedJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 968: flag=_wrap_FixedJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 969: flag=_wrap_FixedJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 970: flag=_wrap_FixedJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 971: flag=_wrap_FixedJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 972: flag=_wrap_FixedJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 973: flag=_wrap_FixedJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 974: flag=_wrap_FixedJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 975: flag=_wrap_FixedJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 976: flag=_wrap_FixedJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 977: flag=_wrap_FixedJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 978: flag=_wrap_delete_MovableJointImpl1(resc,resv,argc,(mxArray**)(argv)); break;
-  case 979: flag=_wrap_MovableJointImpl1_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 980: flag=_wrap_MovableJointImpl1_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 981: flag=_wrap_MovableJointImpl1_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 982: flag=_wrap_MovableJointImpl1_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 983: flag=_wrap_MovableJointImpl1_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 984: flag=_wrap_MovableJointImpl1_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 985: flag=_wrap_MovableJointImpl1_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 986: flag=_wrap_MovableJointImpl1_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 987: flag=_wrap_delete_MovableJointImpl2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 988: flag=_wrap_MovableJointImpl2_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 989: flag=_wrap_MovableJointImpl2_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 990: flag=_wrap_MovableJointImpl2_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 991: flag=_wrap_MovableJointImpl2_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 992: flag=_wrap_MovableJointImpl2_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 993: flag=_wrap_MovableJointImpl2_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 994: flag=_wrap_MovableJointImpl2_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 995: flag=_wrap_MovableJointImpl2_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 996: flag=_wrap_delete_MovableJointImpl3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 997: flag=_wrap_MovableJointImpl3_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 998: flag=_wrap_MovableJointImpl3_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 999: flag=_wrap_MovableJointImpl3_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1000: flag=_wrap_MovableJointImpl3_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1001: flag=_wrap_MovableJointImpl3_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1002: flag=_wrap_MovableJointImpl3_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1003: flag=_wrap_MovableJointImpl3_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1004: flag=_wrap_MovableJointImpl3_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1005: flag=_wrap_delete_MovableJointImpl4(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1006: flag=_wrap_MovableJointImpl4_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1007: flag=_wrap_MovableJointImpl4_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1008: flag=_wrap_MovableJointImpl4_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1009: flag=_wrap_MovableJointImpl4_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1010: flag=_wrap_MovableJointImpl4_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1011: flag=_wrap_MovableJointImpl4_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1012: flag=_wrap_MovableJointImpl4_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1013: flag=_wrap_MovableJointImpl4_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1014: flag=_wrap_delete_MovableJointImpl5(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1015: flag=_wrap_MovableJointImpl5_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1016: flag=_wrap_MovableJointImpl5_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1017: flag=_wrap_MovableJointImpl5_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1018: flag=_wrap_MovableJointImpl5_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1019: flag=_wrap_MovableJointImpl5_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1020: flag=_wrap_MovableJointImpl5_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1021: flag=_wrap_MovableJointImpl5_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1022: flag=_wrap_MovableJointImpl5_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1023: flag=_wrap_delete_MovableJointImpl6(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1024: flag=_wrap_MovableJointImpl6_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1025: flag=_wrap_MovableJointImpl6_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1026: flag=_wrap_MovableJointImpl6_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1027: flag=_wrap_MovableJointImpl6_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1028: flag=_wrap_MovableJointImpl6_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1029: flag=_wrap_MovableJointImpl6_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1030: flag=_wrap_MovableJointImpl6_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1031: flag=_wrap_MovableJointImpl6_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1032: flag=_wrap_new_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1033: flag=_wrap_delete_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1034: flag=_wrap_RevoluteJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1035: flag=_wrap_RevoluteJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1036: flag=_wrap_RevoluteJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1037: flag=_wrap_RevoluteJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1038: flag=_wrap_RevoluteJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1039: flag=_wrap_RevoluteJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1040: flag=_wrap_RevoluteJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1041: flag=_wrap_RevoluteJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1042: flag=_wrap_RevoluteJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1043: flag=_wrap_RevoluteJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1044: flag=_wrap_RevoluteJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1045: flag=_wrap_RevoluteJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1046: flag=_wrap_RevoluteJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1047: flag=_wrap_RevoluteJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1048: flag=_wrap_RevoluteJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1049: flag=_wrap_RevoluteJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1050: flag=_wrap_RevoluteJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1051: flag=_wrap_RevoluteJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1052: flag=_wrap_RevoluteJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1053: flag=_wrap_RevoluteJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1054: flag=_wrap_RevoluteJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1055: flag=_wrap_RevoluteJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1056: flag=_wrap_RevoluteJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1057: flag=_wrap_new_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1058: flag=_wrap_delete_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1059: flag=_wrap_PrismaticJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1060: flag=_wrap_PrismaticJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1061: flag=_wrap_PrismaticJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1062: flag=_wrap_PrismaticJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1063: flag=_wrap_PrismaticJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1064: flag=_wrap_PrismaticJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1065: flag=_wrap_PrismaticJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1066: flag=_wrap_PrismaticJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1067: flag=_wrap_PrismaticJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1068: flag=_wrap_PrismaticJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1069: flag=_wrap_PrismaticJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1070: flag=_wrap_PrismaticJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1071: flag=_wrap_PrismaticJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1072: flag=_wrap_PrismaticJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1073: flag=_wrap_PrismaticJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1074: flag=_wrap_PrismaticJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1075: flag=_wrap_PrismaticJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1076: flag=_wrap_PrismaticJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1077: flag=_wrap_PrismaticJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1078: flag=_wrap_PrismaticJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1079: flag=_wrap_PrismaticJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1080: flag=_wrap_PrismaticJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1081: flag=_wrap_PrismaticJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1082: flag=_wrap_new_Traversal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1083: flag=_wrap_delete_Traversal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1084: flag=_wrap_Traversal_getNrOfVisitedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1085: flag=_wrap_Traversal_getLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1086: flag=_wrap_Traversal_getBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1087: flag=_wrap_Traversal_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1088: flag=_wrap_Traversal_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1089: flag=_wrap_Traversal_getParentLinkFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1090: flag=_wrap_Traversal_getParentJointFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1091: flag=_wrap_Traversal_getTraversalIndexFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1092: flag=_wrap_Traversal_reset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1093: flag=_wrap_Traversal_addTraversalBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1094: flag=_wrap_Traversal_addTraversalElement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1095: flag=_wrap_Traversal_isParentOf(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1096: flag=_wrap_Traversal_getChildLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1097: flag=_wrap_Traversal_getParentLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1098: flag=_wrap_Traversal_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1099: flag=_wrap_delete_SolidShape(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1100: flag=_wrap_SolidShape_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1101: flag=_wrap_SolidShape_name_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1102: flag=_wrap_SolidShape_name_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1103: flag=_wrap_SolidShape_nameIsValid_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1104: flag=_wrap_SolidShape_nameIsValid_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1105: flag=_wrap_SolidShape_link_H_geometry_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1106: flag=_wrap_SolidShape_link_H_geometry_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1107: flag=_wrap_SolidShape_material_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1108: flag=_wrap_SolidShape_material_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1109: flag=_wrap_SolidShape_isSphere(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1110: flag=_wrap_SolidShape_isBox(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1111: flag=_wrap_SolidShape_isCylinder(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1112: flag=_wrap_SolidShape_isExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1113: flag=_wrap_SolidShape_asSphere(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1114: flag=_wrap_SolidShape_asBox(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1115: flag=_wrap_SolidShape_asCylinder(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1116: flag=_wrap_SolidShape_asExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1117: flag=_wrap_delete_Sphere(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1118: flag=_wrap_Sphere_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1119: flag=_wrap_Sphere_radius_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1120: flag=_wrap_Sphere_radius_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1121: flag=_wrap_new_Sphere(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1122: flag=_wrap_delete_Box(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1123: flag=_wrap_Box_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1124: flag=_wrap_Box_x_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1125: flag=_wrap_Box_x_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1126: flag=_wrap_Box_y_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1127: flag=_wrap_Box_y_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1128: flag=_wrap_Box_z_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1129: flag=_wrap_Box_z_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1130: flag=_wrap_new_Box(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1131: flag=_wrap_delete_Cylinder(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1132: flag=_wrap_Cylinder_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1133: flag=_wrap_Cylinder_length_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1134: flag=_wrap_Cylinder_length_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1135: flag=_wrap_Cylinder_radius_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1136: flag=_wrap_Cylinder_radius_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1137: flag=_wrap_new_Cylinder(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1138: flag=_wrap_delete_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1139: flag=_wrap_ExternalMesh_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1140: flag=_wrap_ExternalMesh_filename_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1141: flag=_wrap_ExternalMesh_filename_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1142: flag=_wrap_ExternalMesh_scale_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1143: flag=_wrap_ExternalMesh_scale_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1144: flag=_wrap_new_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1145: flag=_wrap_new_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1146: flag=_wrap_ModelSolidShapes_clear(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1147: flag=_wrap_delete_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1148: flag=_wrap_ModelSolidShapes_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1149: flag=_wrap_ModelSolidShapes_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1150: flag=_wrap_ModelSolidShapes_linkSolidShapes_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1151: flag=_wrap_ModelSolidShapes_linkSolidShapes_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1152: flag=_wrap_Neighbor_neighborLink_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1153: flag=_wrap_Neighbor_neighborLink_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1154: flag=_wrap_Neighbor_neighborJoint_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1155: flag=_wrap_Neighbor_neighborJoint_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1156: flag=_wrap_new_Neighbor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1157: flag=_wrap_delete_Neighbor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1158: flag=_wrap_new_Model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1159: flag=_wrap_Model_copy(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1160: flag=_wrap_delete_Model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1161: flag=_wrap_Model_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1162: flag=_wrap_Model_getLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1163: flag=_wrap_Model_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1164: flag=_wrap_Model_isValidLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1165: flag=_wrap_Model_getLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1166: flag=_wrap_Model_addLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1167: flag=_wrap_Model_getNrOfJoints(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1168: flag=_wrap_Model_getJointName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1169: flag=_wrap_Model_getTotalMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1170: flag=_wrap_Model_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1171: flag=_wrap_Model_getJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1172: flag=_wrap_Model_isValidJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1173: flag=_wrap_Model_isLinkNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1174: flag=_wrap_Model_isJointNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1175: flag=_wrap_Model_isFrameNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1176: flag=_wrap_Model_addJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1177: flag=_wrap_Model_addJointAndLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1178: flag=_wrap_Model_insertLinkToExistingJointAndAddJointForDisplacedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1179: flag=_wrap_Model_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1180: flag=_wrap_Model_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1181: flag=_wrap_Model_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1182: flag=_wrap_Model_addAdditionalFrameToLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1183: flag=_wrap_Model_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1184: flag=_wrap_Model_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1185: flag=_wrap_Model_isValidFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1186: flag=_wrap_Model_getFrameTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1187: flag=_wrap_Model_getFrameLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1188: flag=_wrap_Model_getLinkAdditionalFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1189: flag=_wrap_Model_getNrOfNeighbors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1190: flag=_wrap_Model_getNeighbor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1191: flag=_wrap_Model_setDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1192: flag=_wrap_Model_getDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1193: flag=_wrap_Model_computeFullTreeTraversal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1194: flag=_wrap_Model_getInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1195: flag=_wrap_Model_updateInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1196: flag=_wrap_Model_visualSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1197: flag=_wrap_Model_collisionSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1198: flag=_wrap_Model_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1199: flag=_wrap_new_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1200: flag=_wrap_JointPosDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1201: flag=_wrap_JointPosDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1202: flag=_wrap_delete_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1203: flag=_wrap_new_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1204: flag=_wrap_JointDOFsDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1205: flag=_wrap_JointDOFsDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1206: flag=_wrap_delete_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1207: flag=_wrap_new_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1208: flag=_wrap_DOFSpatialForceArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1209: flag=_wrap_DOFSpatialForceArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1210: flag=_wrap_DOFSpatialForceArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1211: flag=_wrap_delete_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1212: flag=_wrap_new_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1213: flag=_wrap_DOFSpatialMotionArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1214: flag=_wrap_DOFSpatialMotionArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1215: flag=_wrap_DOFSpatialMotionArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1216: flag=_wrap_delete_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1217: flag=_wrap_new_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1218: flag=_wrap_FrameFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1219: flag=_wrap_FrameFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1220: flag=_wrap_delete_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1221: flag=_wrap_new_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1222: flag=_wrap_MomentumFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1223: flag=_wrap_MomentumFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1224: flag=_wrap_delete_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1225: flag=_wrap_new_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1226: flag=_wrap_FreeFloatingMassMatrix_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1227: flag=_wrap_delete_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1228: flag=_wrap_new_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1229: flag=_wrap_FreeFloatingPos_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1230: flag=_wrap_FreeFloatingPos_worldBasePos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1231: flag=_wrap_FreeFloatingPos_jointPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1232: flag=_wrap_FreeFloatingPos_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1233: flag=_wrap_delete_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1234: flag=_wrap_new_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1235: flag=_wrap_FreeFloatingGeneralizedTorques_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1236: flag=_wrap_FreeFloatingGeneralizedTorques_baseWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1237: flag=_wrap_FreeFloatingGeneralizedTorques_jointTorques(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1238: flag=_wrap_FreeFloatingGeneralizedTorques_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1239: flag=_wrap_delete_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1240: flag=_wrap_new_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1241: flag=_wrap_FreeFloatingVel_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1242: flag=_wrap_FreeFloatingVel_baseVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1243: flag=_wrap_FreeFloatingVel_jointVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1244: flag=_wrap_FreeFloatingVel_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1245: flag=_wrap_delete_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1246: flag=_wrap_new_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1247: flag=_wrap_FreeFloatingAcc_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1248: flag=_wrap_FreeFloatingAcc_baseAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1249: flag=_wrap_FreeFloatingAcc_jointAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1250: flag=_wrap_FreeFloatingAcc_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1251: flag=_wrap_delete_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1252: flag=_wrap_ContactWrench_contactId(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1253: flag=_wrap_ContactWrench_contactPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1254: flag=_wrap_ContactWrench_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1255: flag=_wrap_new_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1256: flag=_wrap_delete_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1257: flag=_wrap_new_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1258: flag=_wrap_LinkContactWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1259: flag=_wrap_LinkContactWrenches_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1260: flag=_wrap_LinkContactWrenches_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1261: flag=_wrap_LinkContactWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1262: flag=_wrap_LinkContactWrenches_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1263: flag=_wrap_LinkContactWrenches_computeNetWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1264: flag=_wrap_LinkContactWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1265: flag=_wrap_delete_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1266: flag=_wrap_ForwardPositionKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1267: flag=_wrap_ForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1268: flag=_wrap_ForwardPosVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1269: flag=_wrap_ForwardPosVelKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1270: flag=_wrap_ForwardAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1271: flag=_wrap_ForwardBiasAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1272: flag=_wrap_ComputeLinearAndAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1273: flag=_wrap_ComputeLinearAndAngularMomentumDerivativeBias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1274: flag=_wrap_RNEADynamicPhase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1275: flag=_wrap_CompositeRigidBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1276: flag=_wrap_new_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1277: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1278: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1279: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1280: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1281: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1282: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1283: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1284: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1285: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1286: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1287: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1288: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1289: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1290: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1291: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1292: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1293: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1294: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1295: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1296: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1297: flag=_wrap_delete_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1298: flag=_wrap_ArticulatedBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1299: flag=_wrap_InverseDynamicsInertialParametersRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1300: flag=_wrap_NR_OF_SENSOR_TYPES_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1301: flag=_wrap_isLinkSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1302: flag=_wrap_isJointSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1303: flag=_wrap_getSensorTypeSize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1304: flag=_wrap_delete_Sensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1305: flag=_wrap_Sensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1306: flag=_wrap_Sensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1307: flag=_wrap_Sensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1308: flag=_wrap_Sensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1309: flag=_wrap_Sensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1310: flag=_wrap_Sensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1311: flag=_wrap_Sensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1312: flag=_wrap_Sensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1313: flag=_wrap_delete_JointSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1314: flag=_wrap_JointSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1315: flag=_wrap_JointSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1316: flag=_wrap_JointSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1317: flag=_wrap_JointSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1318: flag=_wrap_JointSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1319: flag=_wrap_delete_LinkSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1320: flag=_wrap_LinkSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1321: flag=_wrap_LinkSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1322: flag=_wrap_LinkSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1323: flag=_wrap_LinkSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1324: flag=_wrap_LinkSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1325: flag=_wrap_LinkSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1326: flag=_wrap_LinkSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1327: flag=_wrap_new_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1328: flag=_wrap_delete_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1329: flag=_wrap_SensorsList_addSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1330: flag=_wrap_SensorsList_setSerialization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1331: flag=_wrap_SensorsList_getSerialization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1332: flag=_wrap_SensorsList_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1333: flag=_wrap_SensorsList_getSensorIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1334: flag=_wrap_SensorsList_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1335: flag=_wrap_SensorsList_getSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1336: flag=_wrap_SensorsList_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1337: flag=_wrap_SensorsList_removeSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1338: flag=_wrap_SensorsList_removeAllSensorsOfType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1339: flag=_wrap_SensorsList_getSixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1340: flag=_wrap_SensorsList_getAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1341: flag=_wrap_SensorsList_getGyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1342: flag=_wrap_SensorsList_getThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1343: flag=_wrap_SensorsList_getThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1344: flag=_wrap_new_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1345: flag=_wrap_delete_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1346: flag=_wrap_SensorsMeasurements_setNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1347: flag=_wrap_SensorsMeasurements_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1348: flag=_wrap_SensorsMeasurements_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1349: flag=_wrap_SensorsMeasurements_toVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1350: flag=_wrap_SensorsMeasurements_setMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1351: flag=_wrap_SensorsMeasurements_getMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1352: flag=_wrap_SensorsMeasurements_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1353: flag=_wrap_new_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1354: flag=_wrap_delete_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1355: flag=_wrap_SixAxisForceTorqueSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1356: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1357: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1358: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1359: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1360: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1361: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1362: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1363: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1364: flag=_wrap_SixAxisForceTorqueSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1365: flag=_wrap_SixAxisForceTorqueSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1366: flag=_wrap_SixAxisForceTorqueSensor_setAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1367: flag=_wrap_SixAxisForceTorqueSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1368: flag=_wrap_SixAxisForceTorqueSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1369: flag=_wrap_SixAxisForceTorqueSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1370: flag=_wrap_SixAxisForceTorqueSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1371: flag=_wrap_SixAxisForceTorqueSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1372: flag=_wrap_SixAxisForceTorqueSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1373: flag=_wrap_SixAxisForceTorqueSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1374: flag=_wrap_SixAxisForceTorqueSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1375: flag=_wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1376: flag=_wrap_SixAxisForceTorqueSensor_isLinkAttachedToSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1377: flag=_wrap_SixAxisForceTorqueSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1378: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1379: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1380: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1381: flag=_wrap_SixAxisForceTorqueSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1382: flag=_wrap_SixAxisForceTorqueSensor_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1383: flag=_wrap_new_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1384: flag=_wrap_delete_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1385: flag=_wrap_AccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1386: flag=_wrap_AccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1387: flag=_wrap_AccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1388: flag=_wrap_AccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1389: flag=_wrap_AccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1390: flag=_wrap_AccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1391: flag=_wrap_AccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1392: flag=_wrap_AccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1393: flag=_wrap_AccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1394: flag=_wrap_AccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1395: flag=_wrap_AccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1396: flag=_wrap_AccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1397: flag=_wrap_AccelerometerSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1398: flag=_wrap_AccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1399: flag=_wrap_new_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1400: flag=_wrap_delete_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1401: flag=_wrap_GyroscopeSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1402: flag=_wrap_GyroscopeSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1403: flag=_wrap_GyroscopeSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1404: flag=_wrap_GyroscopeSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1405: flag=_wrap_GyroscopeSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1406: flag=_wrap_GyroscopeSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1407: flag=_wrap_GyroscopeSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1408: flag=_wrap_GyroscopeSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1409: flag=_wrap_GyroscopeSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1410: flag=_wrap_GyroscopeSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1411: flag=_wrap_GyroscopeSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1412: flag=_wrap_GyroscopeSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1413: flag=_wrap_GyroscopeSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1414: flag=_wrap_GyroscopeSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1415: flag=_wrap_new_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1416: flag=_wrap_delete_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1417: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1418: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1419: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1420: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1421: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1422: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1423: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1424: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1425: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1426: flag=_wrap_ThreeAxisAngularAccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1427: flag=_wrap_ThreeAxisAngularAccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1428: flag=_wrap_ThreeAxisAngularAccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1429: flag=_wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1430: flag=_wrap_new_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1431: flag=_wrap_delete_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1432: flag=_wrap_ThreeAxisForceTorqueContactSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1433: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1434: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1435: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1436: flag=_wrap_ThreeAxisForceTorqueContactSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1437: flag=_wrap_ThreeAxisForceTorqueContactSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1438: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1439: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1440: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1441: flag=_wrap_ThreeAxisForceTorqueContactSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1442: flag=_wrap_ThreeAxisForceTorqueContactSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1443: flag=_wrap_ThreeAxisForceTorqueContactSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1444: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1445: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1446: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1447: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1448: flag=_wrap_predictSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1449: flag=_wrap_predictSensorsMeasurementsFromRawBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1450: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1451: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1452: flag=_wrap_URDFParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1453: flag=_wrap_URDFParserOptions_originalFilename_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1454: flag=_wrap_new_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1455: flag=_wrap_delete_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1456: flag=_wrap_modelFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1457: flag=_wrap_modelFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1458: flag=_wrap_dofsListFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1459: flag=_wrap_dofsListFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1460: flag=_wrap_sensorsFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1461: flag=_wrap_sensorsFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1462: flag=_wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1463: flag=_wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1464: flag=_wrap_ModelParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1465: flag=_wrap_ModelParserOptions_originalFilename_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1466: flag=_wrap_new_ModelParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1467: flag=_wrap_delete_ModelParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1468: flag=_wrap_new_ModelLoader(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1469: flag=_wrap_delete_ModelLoader(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1470: flag=_wrap_ModelLoader_parsingOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1471: flag=_wrap_ModelLoader_setParsingOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1472: flag=_wrap_ModelLoader_loadModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1473: flag=_wrap_ModelLoader_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1474: flag=_wrap_ModelLoader_loadReducedModelFromFullModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1475: flag=_wrap_ModelLoader_loadReducedModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1476: flag=_wrap_ModelLoader_loadReducedModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1477: flag=_wrap_ModelLoader_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1478: flag=_wrap_ModelLoader_sensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1479: flag=_wrap_ModelLoader_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1480: flag=_wrap_ModelExporterOptions_baseLink_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1481: flag=_wrap_ModelExporterOptions_baseLink_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1482: flag=_wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1483: flag=_wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1484: flag=_wrap_new_ModelExporterOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1485: flag=_wrap_delete_ModelExporterOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1486: flag=_wrap_new_ModelExporter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1487: flag=_wrap_delete_ModelExporter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1488: flag=_wrap_ModelExporter_exportingOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1489: flag=_wrap_ModelExporter_setExportingOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1490: flag=_wrap_ModelExporter_init(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1491: flag=_wrap_ModelExporter_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1492: flag=_wrap_ModelExporter_sensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1493: flag=_wrap_ModelExporter_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1494: flag=_wrap_ModelExporter_exportModelToString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1495: flag=_wrap_ModelExporter_exportModelToFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1496: flag=_wrap_new_ModelCalibrationHelper(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1497: flag=_wrap_delete_ModelCalibrationHelper(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1498: flag=_wrap_ModelCalibrationHelper_loadModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1499: flag=_wrap_ModelCalibrationHelper_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1500: flag=_wrap_ModelCalibrationHelper_updateModelInertialParametersToString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1501: flag=_wrap_ModelCalibrationHelper_updateModelInertialParametersToFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1502: flag=_wrap_ModelCalibrationHelper_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1503: flag=_wrap_ModelCalibrationHelper_sensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1504: flag=_wrap_ModelCalibrationHelper_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1505: flag=_wrap_new_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1506: flag=_wrap_UnknownWrenchContact_unknownType_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1507: flag=_wrap_UnknownWrenchContact_unknownType_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1508: flag=_wrap_UnknownWrenchContact_contactPoint_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1509: flag=_wrap_UnknownWrenchContact_contactPoint_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1510: flag=_wrap_UnknownWrenchContact_forceDirection_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1511: flag=_wrap_UnknownWrenchContact_forceDirection_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1512: flag=_wrap_UnknownWrenchContact_knownWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1513: flag=_wrap_UnknownWrenchContact_knownWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1514: flag=_wrap_UnknownWrenchContact_contactId_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1515: flag=_wrap_UnknownWrenchContact_contactId_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1516: flag=_wrap_delete_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1517: flag=_wrap_new_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1518: flag=_wrap_LinkUnknownWrenchContacts_clear(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1519: flag=_wrap_LinkUnknownWrenchContacts_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1520: flag=_wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1521: flag=_wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1522: flag=_wrap_LinkUnknownWrenchContacts_addNewContactForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1523: flag=_wrap_LinkUnknownWrenchContacts_addNewContactInFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1524: flag=_wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1525: flag=_wrap_LinkUnknownWrenchContacts_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1526: flag=_wrap_LinkUnknownWrenchContacts_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1527: flag=_wrap_delete_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1528: flag=_wrap_new_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1529: flag=_wrap_estimateExternalWrenchesBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1530: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfSubModels(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1531: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1532: flag=_wrap_estimateExternalWrenchesBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1533: flag=_wrap_estimateExternalWrenchesBuffers_A_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1534: flag=_wrap_estimateExternalWrenchesBuffers_A_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1535: flag=_wrap_estimateExternalWrenchesBuffers_x_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1536: flag=_wrap_estimateExternalWrenchesBuffers_x_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1537: flag=_wrap_estimateExternalWrenchesBuffers_b_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1538: flag=_wrap_estimateExternalWrenchesBuffers_b_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1539: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1540: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1541: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1542: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1543: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1544: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1545: flag=_wrap_delete_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1546: flag=_wrap_estimateExternalWrenchesWithoutInternalFT(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1547: flag=_wrap_estimateExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1548: flag=_wrap_dynamicsEstimationForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1549: flag=_wrap_dynamicsEstimationForwardVelKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1550: flag=_wrap_computeLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1551: flag=_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1552: flag=_wrap_new_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1553: flag=_wrap_delete_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1554: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1555: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1556: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1557: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1558: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_sensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1559: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_submodels(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1560: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1561: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1562: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1563: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1564: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1565: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1566: flag=_wrap_new_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1567: flag=_wrap_delete_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1568: flag=_wrap_SimpleLeggedOdometry_setModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1569: flag=_wrap_SimpleLeggedOdometry_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1570: flag=_wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1571: flag=_wrap_SimpleLeggedOdometry_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1572: flag=_wrap_SimpleLeggedOdometry_updateKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1573: flag=_wrap_SimpleLeggedOdometry_init(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1574: flag=_wrap_SimpleLeggedOdometry_changeFixedFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1575: flag=_wrap_SimpleLeggedOdometry_getCurrentFixedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1576: flag=_wrap_SimpleLeggedOdometry_getWorldLinkTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1577: flag=_wrap_SimpleLeggedOdometry_getWorldFrameTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1578: flag=_wrap_isLinkBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1579: flag=_wrap_isJointBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1580: flag=_wrap_isDOFBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1581: flag=_wrap_new_BerdyOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1582: flag=_wrap_BerdyOptions_berdyVariant_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1583: flag=_wrap_BerdyOptions_berdyVariant_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1584: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1585: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1586: flag=_wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1587: flag=_wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1588: flag=_wrap_BerdyOptions_includeAllJointTorquesAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1589: flag=_wrap_BerdyOptions_includeAllJointTorquesAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1590: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1591: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1592: flag=_wrap_BerdyOptions_includeFixedBaseExternalWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1593: flag=_wrap_BerdyOptions_includeFixedBaseExternalWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1594: flag=_wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1595: flag=_wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1596: flag=_wrap_BerdyOptions_baseLink_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1597: flag=_wrap_BerdyOptions_baseLink_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1598: flag=_wrap_BerdyOptions_checkConsistency(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1599: flag=_wrap_delete_BerdyOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1600: flag=_wrap_BerdySensor_type_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1601: flag=_wrap_BerdySensor_type_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1602: flag=_wrap_BerdySensor_id_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1603: flag=_wrap_BerdySensor_id_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1604: flag=_wrap_BerdySensor_range_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1605: flag=_wrap_BerdySensor_range_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1606: flag=_wrap_BerdySensor_eq(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1607: flag=_wrap_BerdySensor_lt(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1608: flag=_wrap_new_BerdySensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1609: flag=_wrap_delete_BerdySensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1610: flag=_wrap_BerdyDynamicVariable_type_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1611: flag=_wrap_BerdyDynamicVariable_type_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1612: flag=_wrap_BerdyDynamicVariable_id_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1613: flag=_wrap_BerdyDynamicVariable_id_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1614: flag=_wrap_BerdyDynamicVariable_range_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1615: flag=_wrap_BerdyDynamicVariable_range_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1616: flag=_wrap_BerdyDynamicVariable_eq(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1617: flag=_wrap_BerdyDynamicVariable_lt(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1618: flag=_wrap_new_BerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1619: flag=_wrap_delete_BerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1620: flag=_wrap_new_BerdyHelper(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1621: flag=_wrap_BerdyHelper_dynamicTraversal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1622: flag=_wrap_BerdyHelper_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1623: flag=_wrap_BerdyHelper_sensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1624: flag=_wrap_BerdyHelper_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1625: flag=_wrap_BerdyHelper_init(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1626: flag=_wrap_BerdyHelper_getOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1627: flag=_wrap_BerdyHelper_getNrOfDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1628: flag=_wrap_BerdyHelper_getNrOfDynamicEquations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1629: flag=_wrap_BerdyHelper_getNrOfSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1630: flag=_wrap_BerdyHelper_resizeAndZeroBerdyMatrices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1631: flag=_wrap_BerdyHelper_getBerdyMatrices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1632: flag=_wrap_BerdyHelper_getSensorsOrdering(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1633: flag=_wrap_BerdyHelper_getRangeSensorVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1634: flag=_wrap_BerdyHelper_getRangeDOFSensorVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1635: flag=_wrap_BerdyHelper_getRangeJointSensorVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1636: flag=_wrap_BerdyHelper_getRangeLinkSensorVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1637: flag=_wrap_BerdyHelper_getRangeLinkVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1638: flag=_wrap_BerdyHelper_getRangeJointVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1639: flag=_wrap_BerdyHelper_getRangeDOFVariable(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1640: flag=_wrap_BerdyHelper_getDynamicVariablesOrdering(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1641: flag=_wrap_BerdyHelper_serializeDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1642: flag=_wrap_BerdyHelper_serializeSensorVariables(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1643: flag=_wrap_BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1644: flag=_wrap_BerdyHelper_extractJointTorquesFromDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1645: flag=_wrap_BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1646: flag=_wrap_BerdyHelper_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1647: flag=_wrap_BerdyHelper_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1648: flag=_wrap_BerdyHelper_updateKinematicsFromTraversalFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1649: flag=_wrap_BerdyHelper_setNetExternalWrenchMeasurementFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1650: flag=_wrap_BerdyHelper_getNetExternalWrenchMeasurementFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1651: flag=_wrap_delete_BerdyHelper(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1652: flag=_wrap_new_BerdySparseMAPSolver(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1653: flag=_wrap_delete_BerdySparseMAPSolver(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1654: flag=_wrap_BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1655: flag=_wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1656: flag=_wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1657: flag=_wrap_BerdySparseMAPSolver_setMeasurementsPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1658: flag=_wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1659: flag=_wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1660: flag=_wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1661: flag=_wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1662: flag=_wrap_BerdySparseMAPSolver_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1663: flag=_wrap_BerdySparseMAPSolver_initialize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1664: flag=_wrap_BerdySparseMAPSolver_updateEstimateInformationFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1665: flag=_wrap_BerdySparseMAPSolver_updateEstimateInformationFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1666: flag=_wrap_BerdySparseMAPSolver_doEstimate(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1667: flag=_wrap_BerdySparseMAPSolver_getLastEstimate(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1668: flag=_wrap_AttitudeEstimatorState_m_orientation_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1669: flag=_wrap_AttitudeEstimatorState_m_orientation_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1670: flag=_wrap_AttitudeEstimatorState_m_angular_velocity_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1671: flag=_wrap_AttitudeEstimatorState_m_angular_velocity_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1672: flag=_wrap_AttitudeEstimatorState_m_gyroscope_bias_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1673: flag=_wrap_AttitudeEstimatorState_m_gyroscope_bias_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1674: flag=_wrap_new_AttitudeEstimatorState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1675: flag=_wrap_delete_AttitudeEstimatorState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1676: flag=_wrap_delete_IAttitudeEstimator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1677: flag=_wrap_IAttitudeEstimator_updateFilterWithMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1678: flag=_wrap_IAttitudeEstimator_propagateStates(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1679: flag=_wrap_IAttitudeEstimator_getOrientationEstimateAsRotationMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1680: flag=_wrap_IAttitudeEstimator_getOrientationEstimateAsQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1681: flag=_wrap_IAttitudeEstimator_getOrientationEstimateAsRPY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1682: flag=_wrap_IAttitudeEstimator_getInternalStateSize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1683: flag=_wrap_IAttitudeEstimator_getInternalState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1684: flag=_wrap_IAttitudeEstimator_getDefaultInternalInitialState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1685: flag=_wrap_IAttitudeEstimator_setInternalState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1686: flag=_wrap_IAttitudeEstimator_setInternalStateInitialOrientation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1687: flag=_wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1688: flag=_wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1689: flag=_wrap_AttitudeMahonyFilterParameters_kp_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1690: flag=_wrap_AttitudeMahonyFilterParameters_kp_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1691: flag=_wrap_AttitudeMahonyFilterParameters_ki_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1692: flag=_wrap_AttitudeMahonyFilterParameters_ki_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1693: flag=_wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1694: flag=_wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1695: flag=_wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1696: flag=_wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1697: flag=_wrap_new_AttitudeMahonyFilterParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1698: flag=_wrap_delete_AttitudeMahonyFilterParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1699: flag=_wrap_new_AttitudeMahonyFilter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1700: flag=_wrap_AttitudeMahonyFilter_useMagnetoMeterMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1701: flag=_wrap_AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1702: flag=_wrap_AttitudeMahonyFilter_setGainkp(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1703: flag=_wrap_AttitudeMahonyFilter_setGainki(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1704: flag=_wrap_AttitudeMahonyFilter_setTimeStepInSeconds(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1705: flag=_wrap_AttitudeMahonyFilter_setGravityDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1706: flag=_wrap_AttitudeMahonyFilter_setParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1707: flag=_wrap_AttitudeMahonyFilter_getParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1708: flag=_wrap_AttitudeMahonyFilter_updateFilterWithMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1709: flag=_wrap_AttitudeMahonyFilter_propagateStates(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1710: flag=_wrap_AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1711: flag=_wrap_AttitudeMahonyFilter_getOrientationEstimateAsQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1712: flag=_wrap_AttitudeMahonyFilter_getOrientationEstimateAsRPY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1713: flag=_wrap_AttitudeMahonyFilter_getInternalStateSize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1714: flag=_wrap_AttitudeMahonyFilter_getInternalState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1715: flag=_wrap_AttitudeMahonyFilter_getDefaultInternalInitialState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1716: flag=_wrap_AttitudeMahonyFilter_setInternalState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1717: flag=_wrap_AttitudeMahonyFilter_setInternalStateInitialOrientation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1718: flag=_wrap_delete_AttitudeMahonyFilter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1719: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekf_f(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1720: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekf_h(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1721: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1722: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1723: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfPredict(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1724: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfUpdate(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1725: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfInit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1726: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfReset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1727: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1728: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1729: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInitialState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1730: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1731: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1732: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1733: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateSize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1734: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputSize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1735: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1736: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStates(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1737: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1738: flag=_wrap_delete_DiscreteExtendedKalmanFilterHelper(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1739: flag=_wrap_output_dimensions_with_magnetometer_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1740: flag=_wrap_output_dimensions_without_magnetometer_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1741: flag=_wrap_input_dimensions_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1742: flag=_wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1743: flag=_wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1744: flag=_wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1745: flag=_wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1746: flag=_wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1747: flag=_wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1748: flag=_wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1749: flag=_wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1750: flag=_wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1751: flag=_wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1752: flag=_wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1753: flag=_wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1754: flag=_wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1755: flag=_wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1756: flag=_wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1757: flag=_wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1758: flag=_wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1759: flag=_wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1760: flag=_wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1761: flag=_wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1762: flag=_wrap_new_AttitudeQuaternionEKFParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1763: flag=_wrap_delete_AttitudeQuaternionEKFParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1764: flag=_wrap_new_AttitudeQuaternionEKF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1765: flag=_wrap_AttitudeQuaternionEKF_getParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1766: flag=_wrap_AttitudeQuaternionEKF_setParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1767: flag=_wrap_AttitudeQuaternionEKF_setGravityDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1768: flag=_wrap_AttitudeQuaternionEKF_setTimeStepInSeconds(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1769: flag=_wrap_AttitudeQuaternionEKF_setBiasCorrelationTimeFactor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1770: flag=_wrap_AttitudeQuaternionEKF_useMagnetometerMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1771: flag=_wrap_AttitudeQuaternionEKF_setMeasurementNoiseVariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1772: flag=_wrap_AttitudeQuaternionEKF_setSystemNoiseVariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1773: flag=_wrap_AttitudeQuaternionEKF_setInitialStateCovariance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1774: flag=_wrap_AttitudeQuaternionEKF_initializeFilter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1775: flag=_wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1776: flag=_wrap_AttitudeQuaternionEKF_propagateStates(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1777: flag=_wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1778: flag=_wrap_AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1779: flag=_wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRPY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1780: flag=_wrap_AttitudeQuaternionEKF_getInternalStateSize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1781: flag=_wrap_AttitudeQuaternionEKF_getInternalState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1782: flag=_wrap_AttitudeQuaternionEKF_getDefaultInternalInitialState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1783: flag=_wrap_AttitudeQuaternionEKF_setInternalState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1784: flag=_wrap_AttitudeQuaternionEKF_setInternalStateInitialOrientation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1785: flag=_wrap_delete_AttitudeQuaternionEKF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1786: flag=_wrap_estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1787: flag=_wrap_DynamicsRegressorParameter_category_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1788: flag=_wrap_DynamicsRegressorParameter_category_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1789: flag=_wrap_DynamicsRegressorParameter_elemIndex_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1790: flag=_wrap_DynamicsRegressorParameter_elemIndex_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1791: flag=_wrap_DynamicsRegressorParameter_type_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1792: flag=_wrap_DynamicsRegressorParameter_type_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1793: flag=_wrap_DynamicsRegressorParameter_lt(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1794: flag=_wrap_DynamicsRegressorParameter_eq(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1795: flag=_wrap_DynamicsRegressorParameter_ne(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1796: flag=_wrap_new_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1797: flag=_wrap_delete_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1798: flag=_wrap_DynamicsRegressorParametersList_parameters_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1799: flag=_wrap_DynamicsRegressorParametersList_parameters_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1800: flag=_wrap_DynamicsRegressorParametersList_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1801: flag=_wrap_DynamicsRegressorParametersList_addParam(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1802: flag=_wrap_DynamicsRegressorParametersList_addList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1803: flag=_wrap_DynamicsRegressorParametersList_findParam(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1804: flag=_wrap_DynamicsRegressorParametersList_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1805: flag=_wrap_new_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1806: flag=_wrap_delete_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1807: flag=_wrap_new_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1808: flag=_wrap_delete_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1809: flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1810: flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1811: flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1812: flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1813: flag=_wrap_DynamicsRegressorGenerator_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1814: flag=_wrap_DynamicsRegressorGenerator_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1815: flag=_wrap_DynamicsRegressorGenerator_getNrOfOutputs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1816: flag=_wrap_DynamicsRegressorGenerator_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1817: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1818: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1819: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutput(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1820: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutputs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1821: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1822: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1823: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1824: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1825: flag=_wrap_DynamicsRegressorGenerator_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1826: flag=_wrap_DynamicsRegressorGenerator_getNrOfFakeLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1827: flag=_wrap_DynamicsRegressorGenerator_getBaseLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1828: flag=_wrap_DynamicsRegressorGenerator_getSensorsModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1829: flag=_wrap_DynamicsRegressorGenerator_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1830: flag=_wrap_DynamicsRegressorGenerator_getSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1831: flag=_wrap_DynamicsRegressorGenerator_setTorqueSensorMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1832: flag=_wrap_DynamicsRegressorGenerator_computeRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1833: flag=_wrap_DynamicsRegressorGenerator_getModelParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1834: flag=_wrap_DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1835: flag=_wrap_DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1836: flag=_wrap_DynamicsRegressorGenerator_generate_random_regressors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1837: flag=_wrap_new_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1838: flag=_wrap_delete_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1839: flag=_wrap_KinDynComputations_loadRobotModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1840: flag=_wrap_KinDynComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1841: flag=_wrap_KinDynComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1842: flag=_wrap_KinDynComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1843: flag=_wrap_KinDynComputations_setFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1844: flag=_wrap_KinDynComputations_getFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1845: flag=_wrap_KinDynComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1846: flag=_wrap_KinDynComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1847: flag=_wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1848: flag=_wrap_KinDynComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1849: flag=_wrap_KinDynComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1850: flag=_wrap_KinDynComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1851: flag=_wrap_KinDynComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1852: flag=_wrap_KinDynComputations_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1853: flag=_wrap_KinDynComputations_getRobotModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1854: flag=_wrap_KinDynComputations_getRelativeJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1855: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1856: flag=_wrap_KinDynComputations_setJointPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1857: flag=_wrap_KinDynComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1858: flag=_wrap_KinDynComputations_getRobotState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1859: flag=_wrap_KinDynComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1860: flag=_wrap_KinDynComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1861: flag=_wrap_KinDynComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1862: flag=_wrap_KinDynComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1863: flag=_wrap_KinDynComputations_getModelVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1864: flag=_wrap_KinDynComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1865: flag=_wrap_KinDynComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1866: flag=_wrap_KinDynComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1867: flag=_wrap_KinDynComputations_getRelativeTransformExplicit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1868: flag=_wrap_KinDynComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1869: flag=_wrap_KinDynComputations_getFrameVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1870: flag=_wrap_KinDynComputations_getFrameAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1871: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1872: flag=_wrap_KinDynComputations_getRelativeJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1873: flag=_wrap_KinDynComputations_getRelativeJacobianExplicit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1874: flag=_wrap_KinDynComputations_getFrameBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1875: flag=_wrap_KinDynComputations_getCenterOfMassPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1876: flag=_wrap_KinDynComputations_getCenterOfMassVelocity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1877: flag=_wrap_KinDynComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1878: flag=_wrap_KinDynComputations_getCenterOfMassBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1879: flag=_wrap_KinDynComputations_getAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1880: flag=_wrap_KinDynComputations_getAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1881: flag=_wrap_KinDynComputations_getCentroidalAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1882: flag=_wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1883: flag=_wrap_KinDynComputations_getLinearAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1884: flag=_wrap_KinDynComputations_getLinearAngularMomentumJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1885: flag=_wrap_KinDynComputations_getCentroidalTotalMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1886: flag=_wrap_KinDynComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1887: flag=_wrap_KinDynComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1888: flag=_wrap_KinDynComputations_generalizedBiasForces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1889: flag=_wrap_KinDynComputations_generalizedGravityForces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1890: flag=_wrap_KinDynComputations_generalizedExternalForces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1891: flag=_wrap_KinDynComputations_inverseDynamicsInertialParametersRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1892: flag=_wrap_delete_ICamera(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1893: flag=_wrap_ICamera_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1894: flag=_wrap_ICamera_setTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1895: flag=_wrap_ICamera_setUpVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1896: flag=_wrap_ColorViz_r_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1897: flag=_wrap_ColorViz_r_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1898: flag=_wrap_ColorViz_g_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1899: flag=_wrap_ColorViz_g_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1900: flag=_wrap_ColorViz_b_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1901: flag=_wrap_ColorViz_b_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1902: flag=_wrap_ColorViz_a_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1903: flag=_wrap_ColorViz_a_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1904: flag=_wrap_new_ColorViz(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1905: flag=_wrap_delete_ColorViz(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1906: flag=_wrap_delete_ILight(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1907: flag=_wrap_ILight_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1908: flag=_wrap_ILight_setType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1909: flag=_wrap_ILight_getType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1910: flag=_wrap_ILight_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1911: flag=_wrap_ILight_getPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1912: flag=_wrap_ILight_setDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1913: flag=_wrap_ILight_getDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1914: flag=_wrap_ILight_setAmbientColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1915: flag=_wrap_ILight_getAmbientColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1916: flag=_wrap_ILight_setSpecularColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1917: flag=_wrap_ILight_getSpecularColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1918: flag=_wrap_ILight_setDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1919: flag=_wrap_ILight_getDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1920: flag=_wrap_delete_IEnvironment(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1921: flag=_wrap_IEnvironment_getElements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1922: flag=_wrap_IEnvironment_setElementVisibility(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1923: flag=_wrap_IEnvironment_setBackgroundColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1924: flag=_wrap_IEnvironment_setAmbientLight(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1925: flag=_wrap_IEnvironment_getLights(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1926: flag=_wrap_IEnvironment_addLight(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1927: flag=_wrap_IEnvironment_lightViz(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1928: flag=_wrap_IEnvironment_removeLight(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1929: flag=_wrap_delete_IJetsVisualization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1930: flag=_wrap_IJetsVisualization_setJetsFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1931: flag=_wrap_IJetsVisualization_getNrOfJets(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1932: flag=_wrap_IJetsVisualization_getJetDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1933: flag=_wrap_IJetsVisualization_setJetDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1934: flag=_wrap_IJetsVisualization_setJetColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1935: flag=_wrap_IJetsVisualization_setJetsDimensions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1936: flag=_wrap_IJetsVisualization_setJetsIntensity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1937: flag=_wrap_delete_IVectorsVisualization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1938: flag=_wrap_IVectorsVisualization_addVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1939: flag=_wrap_IVectorsVisualization_getNrOfVectors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1940: flag=_wrap_IVectorsVisualization_getVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1941: flag=_wrap_IVectorsVisualization_updateVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1942: flag=_wrap_IVectorsVisualization_setVectorColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1943: flag=_wrap_IVectorsVisualization_setVectorsAspect(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1944: flag=_wrap_delete_IModelVisualization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1945: flag=_wrap_IModelVisualization_setPositions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1946: flag=_wrap_IModelVisualization_setLinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1947: flag=_wrap_IModelVisualization_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1948: flag=_wrap_IModelVisualization_getInstanceName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1949: flag=_wrap_IModelVisualization_setModelVisibility(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1950: flag=_wrap_IModelVisualization_setModelColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1951: flag=_wrap_IModelVisualization_resetModelColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1952: flag=_wrap_IModelVisualization_setLinkColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1953: flag=_wrap_IModelVisualization_resetLinkColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1954: flag=_wrap_IModelVisualization_getLinkNames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1955: flag=_wrap_IModelVisualization_setLinkVisibility(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1956: flag=_wrap_IModelVisualization_getFeatures(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1957: flag=_wrap_IModelVisualization_setFeatureVisibility(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1958: flag=_wrap_IModelVisualization_jets(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1959: flag=_wrap_IModelVisualization_getWorldModelTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1960: flag=_wrap_IModelVisualization_getWorldLinkTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1961: flag=_wrap_VisualizerOptions_verbose_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1962: flag=_wrap_VisualizerOptions_verbose_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1963: flag=_wrap_VisualizerOptions_winWidth_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1964: flag=_wrap_VisualizerOptions_winWidth_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1965: flag=_wrap_VisualizerOptions_winHeight_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1966: flag=_wrap_VisualizerOptions_winHeight_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1967: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1968: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1969: flag=_wrap_new_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1970: flag=_wrap_delete_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1971: flag=_wrap_new_Visualizer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1972: flag=_wrap_delete_Visualizer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1973: flag=_wrap_Visualizer_init(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1974: flag=_wrap_Visualizer_getNrOfVisualizedModels(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1975: flag=_wrap_Visualizer_getModelInstanceName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1976: flag=_wrap_Visualizer_getModelInstanceIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1977: flag=_wrap_Visualizer_addModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1978: flag=_wrap_Visualizer_modelViz(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1979: flag=_wrap_Visualizer_camera(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1980: flag=_wrap_Visualizer_enviroment(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1981: flag=_wrap_Visualizer_vectors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1982: flag=_wrap_Visualizer_run(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1983: flag=_wrap_Visualizer_draw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1984: flag=_wrap_Visualizer_drawToFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1985: flag=_wrap_Visualizer_close(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1986: flag=_wrap_Polygon_m_vertices_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1987: flag=_wrap_Polygon_m_vertices_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1988: flag=_wrap_new_Polygon(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1989: flag=_wrap_Polygon_setNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1990: flag=_wrap_Polygon_getNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1991: flag=_wrap_Polygon_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1992: flag=_wrap_Polygon_applyTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1993: flag=_wrap_Polygon_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1994: flag=_wrap_Polygon_XYRectangleFromOffsets(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1995: flag=_wrap_delete_Polygon(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1996: flag=_wrap_Polygon2D_m_vertices_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1997: flag=_wrap_Polygon2D_m_vertices_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1998: flag=_wrap_new_Polygon2D(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1999: flag=_wrap_Polygon2D_setNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2000: flag=_wrap_Polygon2D_getNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2001: flag=_wrap_Polygon2D_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2002: flag=_wrap_Polygon2D_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2003: flag=_wrap_delete_Polygon2D(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2004: flag=_wrap_ConvexHullProjectionConstraint_setActive(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2005: flag=_wrap_ConvexHullProjectionConstraint_isActive(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2006: flag=_wrap_ConvexHullProjectionConstraint_getNrOfConstraints(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2007: flag=_wrap_ConvexHullProjectionConstraint_projectedConvexHull_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2008: flag=_wrap_ConvexHullProjectionConstraint_projectedConvexHull_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2009: flag=_wrap_ConvexHullProjectionConstraint_A_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2010: flag=_wrap_ConvexHullProjectionConstraint_A_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2011: flag=_wrap_ConvexHullProjectionConstraint_b_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2012: flag=_wrap_ConvexHullProjectionConstraint_b_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2013: flag=_wrap_ConvexHullProjectionConstraint_P_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2014: flag=_wrap_ConvexHullProjectionConstraint_P_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2015: flag=_wrap_ConvexHullProjectionConstraint_Pdirection_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2016: flag=_wrap_ConvexHullProjectionConstraint_Pdirection_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2017: flag=_wrap_ConvexHullProjectionConstraint_AtimesP_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2018: flag=_wrap_ConvexHullProjectionConstraint_AtimesP_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2019: flag=_wrap_ConvexHullProjectionConstraint_o_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2020: flag=_wrap_ConvexHullProjectionConstraint_o_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2021: flag=_wrap_ConvexHullProjectionConstraint_buildConvexHull(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2022: flag=_wrap_ConvexHullProjectionConstraint_supportFrameIndices_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2023: flag=_wrap_ConvexHullProjectionConstraint_supportFrameIndices_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2024: flag=_wrap_ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2025: flag=_wrap_ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2026: flag=_wrap_ConvexHullProjectionConstraint_project(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2027: flag=_wrap_ConvexHullProjectionConstraint_computeMargin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2028: flag=_wrap_ConvexHullProjectionConstraint_setProjectionAlongDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2029: flag=_wrap_ConvexHullProjectionConstraint_projectAlongDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2030: flag=_wrap_new_ConvexHullProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2031: flag=_wrap_delete_ConvexHullProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2032: flag=_wrap_sizeOfRotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2033: flag=_wrap_new_InverseKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2034: flag=_wrap_delete_InverseKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2035: flag=_wrap_InverseKinematics_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2036: flag=_wrap_InverseKinematics_setModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2037: flag=_wrap_InverseKinematics_setJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2038: flag=_wrap_InverseKinematics_getJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2039: flag=_wrap_InverseKinematics_clearProblem(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2040: flag=_wrap_InverseKinematics_setFloatingBaseOnFrameNamed(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2041: flag=_wrap_InverseKinematics_setRobotConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2042: flag=_wrap_InverseKinematics_setCurrentRobotConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2043: flag=_wrap_InverseKinematics_setJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2044: flag=_wrap_InverseKinematics_setRotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2045: flag=_wrap_InverseKinematics_rotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2046: flag=_wrap_InverseKinematics_setMaxIterations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2047: flag=_wrap_InverseKinematics_maxIterations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2048: flag=_wrap_InverseKinematics_setMaxCPUTime(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2049: flag=_wrap_InverseKinematics_maxCPUTime(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2050: flag=_wrap_InverseKinematics_setCostTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2051: flag=_wrap_InverseKinematics_costTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2052: flag=_wrap_InverseKinematics_setConstraintsTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2053: flag=_wrap_InverseKinematics_constraintsTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2054: flag=_wrap_InverseKinematics_setVerbosity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2055: flag=_wrap_InverseKinematics_linearSolverName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2056: flag=_wrap_InverseKinematics_setLinearSolverName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2057: flag=_wrap_InverseKinematics_addFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2058: flag=_wrap_InverseKinematics_addFramePositionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2059: flag=_wrap_InverseKinematics_addFrameRotationConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2060: flag=_wrap_InverseKinematics_activateFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2061: flag=_wrap_InverseKinematics_deactivateFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2062: flag=_wrap_InverseKinematics_isFrameConstraintActive(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2063: flag=_wrap_InverseKinematics_addCenterOfMassProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2064: flag=_wrap_InverseKinematics_getCenterOfMassProjectionMargin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2065: flag=_wrap_InverseKinematics_getCenterOfMassProjectConstraintConvexHull(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2066: flag=_wrap_InverseKinematics_addTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2067: flag=_wrap_InverseKinematics_addPositionTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2068: flag=_wrap_InverseKinematics_addRotationTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2069: flag=_wrap_InverseKinematics_updateTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2070: flag=_wrap_InverseKinematics_updatePositionTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2071: flag=_wrap_InverseKinematics_updateRotationTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2072: flag=_wrap_InverseKinematics_setDefaultTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2073: flag=_wrap_InverseKinematics_defaultTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2074: flag=_wrap_InverseKinematics_setTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2075: flag=_wrap_InverseKinematics_targetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2076: flag=_wrap_InverseKinematics_setDesiredJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2077: flag=_wrap_InverseKinematics_setDesiredFullJointsConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2078: flag=_wrap_InverseKinematics_setDesiredReducedJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2079: flag=_wrap_InverseKinematics_setInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2080: flag=_wrap_InverseKinematics_setFullJointsInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2081: flag=_wrap_InverseKinematics_setReducedInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2082: flag=_wrap_InverseKinematics_solve(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2083: flag=_wrap_InverseKinematics_getSolution(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2084: flag=_wrap_InverseKinematics_getFullJointsSolution(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2085: flag=_wrap_InverseKinematics_getReducedSolution(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2086: flag=_wrap_InverseKinematics_getPoseForFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2087: flag=_wrap_InverseKinematics_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2088: flag=_wrap_InverseKinematics_fullModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2089: flag=_wrap_InverseKinematics_reducedModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2090: flag=_wrap_InverseKinematics_setCOMTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2091: flag=_wrap_InverseKinematics_setCOMAsConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2092: flag=_wrap_InverseKinematics_setCOMAsConstraintTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2093: flag=_wrap_InverseKinematics_isCOMAConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2094: flag=_wrap_InverseKinematics_isCOMTargetActive(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2095: flag=_wrap_InverseKinematics_deactivateCOMTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2096: flag=_wrap_InverseKinematics_setCOMConstraintProjectionDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2097: flag=_wrap_new_DynamicsComputations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2098: flag=_wrap_delete_DynamicsComputations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2099: flag=_wrap_DynamicsComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2100: flag=_wrap_DynamicsComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2101: flag=_wrap_DynamicsComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2102: flag=_wrap_DynamicsComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2103: flag=_wrap_DynamicsComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2104: flag=_wrap_DynamicsComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2105: flag=_wrap_DynamicsComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2106: flag=_wrap_DynamicsComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2107: flag=_wrap_DynamicsComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2108: flag=_wrap_DynamicsComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2109: flag=_wrap_DynamicsComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2110: flag=_wrap_DynamicsComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2111: flag=_wrap_DynamicsComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2112: flag=_wrap_DynamicsComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2113: flag=_wrap_DynamicsComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2114: flag=_wrap_DynamicsComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2115: flag=_wrap_DynamicsComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2116: flag=_wrap_DynamicsComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2117: flag=_wrap_DynamicsComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2118: flag=_wrap_DynamicsComputations_getFrameTwist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2119: flag=_wrap_DynamicsComputations_getFrameTwistInWorldOrient(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2120: flag=_wrap_DynamicsComputations_getFrameProperSpatialAcceleration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2121: flag=_wrap_DynamicsComputations_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2122: flag=_wrap_DynamicsComputations_getLinkInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2123: flag=_wrap_DynamicsComputations_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2124: flag=_wrap_DynamicsComputations_getJointName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2125: flag=_wrap_DynamicsComputations_getJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2126: flag=_wrap_DynamicsComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2127: flag=_wrap_DynamicsComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2128: flag=_wrap_DynamicsComputations_getFrameJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2129: flag=_wrap_DynamicsComputations_getDynamicsRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2130: flag=_wrap_DynamicsComputations_getModelDynamicsParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2131: flag=_wrap_DynamicsComputations_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 2132: flag=_wrap_DynamicsComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 164: flag=_wrap_VectorDynSize_cbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 165: flag=_wrap_VectorDynSize_cend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 166: flag=_wrap_VectorDynSize_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 167: flag=_wrap_VectorDynSize_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 168: flag=_wrap_VectorDynSize_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 169: flag=_wrap_VectorDynSize_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 170: flag=_wrap_VectorDynSize_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 171: flag=_wrap_VectorDynSize_reserve(resc,resv,argc,(mxArray**)(argv)); break;
+  case 172: flag=_wrap_VectorDynSize_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 173: flag=_wrap_VectorDynSize_shrink_to_fit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 174: flag=_wrap_VectorDynSize_capacity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 175: flag=_wrap_VectorDynSize_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 176: flag=_wrap_VectorDynSize_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 177: flag=_wrap_VectorDynSize_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 178: flag=_wrap_VectorDynSize_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 179: flag=_wrap_VectorDynSize_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 180: flag=_wrap_new_Matrix1x6(resc,resv,argc,(mxArray**)(argv)); break;
+  case 181: flag=_wrap_Matrix1x6_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 182: flag=_wrap_Matrix1x6_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 183: flag=_wrap_Matrix1x6_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 184: flag=_wrap_Matrix1x6_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 185: flag=_wrap_Matrix1x6_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 186: flag=_wrap_Matrix1x6_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 187: flag=_wrap_Matrix1x6_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 188: flag=_wrap_Matrix1x6_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 189: flag=_wrap_Matrix1x6_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 190: flag=_wrap_Matrix1x6_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 191: flag=_wrap_Matrix1x6_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 192: flag=_wrap_Matrix1x6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 193: flag=_wrap_Matrix1x6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 194: flag=_wrap_delete_Matrix1x6(resc,resv,argc,(mxArray**)(argv)); break;
+  case 195: flag=_wrap_new_Matrix2x3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 196: flag=_wrap_Matrix2x3_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 197: flag=_wrap_Matrix2x3_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 198: flag=_wrap_Matrix2x3_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 199: flag=_wrap_Matrix2x3_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 200: flag=_wrap_Matrix2x3_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 201: flag=_wrap_Matrix2x3_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 202: flag=_wrap_Matrix2x3_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 203: flag=_wrap_Matrix2x3_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 204: flag=_wrap_Matrix2x3_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 205: flag=_wrap_Matrix2x3_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 206: flag=_wrap_Matrix2x3_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 207: flag=_wrap_Matrix2x3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 208: flag=_wrap_Matrix2x3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 209: flag=_wrap_delete_Matrix2x3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 210: flag=_wrap_new_Matrix3x3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 211: flag=_wrap_Matrix3x3_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 212: flag=_wrap_Matrix3x3_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 213: flag=_wrap_Matrix3x3_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 214: flag=_wrap_Matrix3x3_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 215: flag=_wrap_Matrix3x3_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 216: flag=_wrap_Matrix3x3_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 217: flag=_wrap_Matrix3x3_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 218: flag=_wrap_Matrix3x3_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 219: flag=_wrap_Matrix3x3_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 220: flag=_wrap_Matrix3x3_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 221: flag=_wrap_Matrix3x3_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 222: flag=_wrap_Matrix3x3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 223: flag=_wrap_Matrix3x3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 224: flag=_wrap_delete_Matrix3x3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 225: flag=_wrap_new_Matrix4x4(resc,resv,argc,(mxArray**)(argv)); break;
+  case 226: flag=_wrap_Matrix4x4_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 227: flag=_wrap_Matrix4x4_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 228: flag=_wrap_Matrix4x4_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 229: flag=_wrap_Matrix4x4_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 230: flag=_wrap_Matrix4x4_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 231: flag=_wrap_Matrix4x4_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 232: flag=_wrap_Matrix4x4_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 233: flag=_wrap_Matrix4x4_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 234: flag=_wrap_Matrix4x4_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 235: flag=_wrap_Matrix4x4_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 236: flag=_wrap_Matrix4x4_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 237: flag=_wrap_Matrix4x4_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 238: flag=_wrap_Matrix4x4_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 239: flag=_wrap_delete_Matrix4x4(resc,resv,argc,(mxArray**)(argv)); break;
+  case 240: flag=_wrap_new_Matrix6x6(resc,resv,argc,(mxArray**)(argv)); break;
+  case 241: flag=_wrap_Matrix6x6_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 242: flag=_wrap_Matrix6x6_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 243: flag=_wrap_Matrix6x6_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 244: flag=_wrap_Matrix6x6_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 245: flag=_wrap_Matrix6x6_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 246: flag=_wrap_Matrix6x6_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 247: flag=_wrap_Matrix6x6_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 248: flag=_wrap_Matrix6x6_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 249: flag=_wrap_Matrix6x6_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 250: flag=_wrap_Matrix6x6_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 251: flag=_wrap_Matrix6x6_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 252: flag=_wrap_Matrix6x6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 253: flag=_wrap_Matrix6x6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 254: flag=_wrap_delete_Matrix6x6(resc,resv,argc,(mxArray**)(argv)); break;
+  case 255: flag=_wrap_new_Matrix6x10(resc,resv,argc,(mxArray**)(argv)); break;
+  case 256: flag=_wrap_Matrix6x10_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 257: flag=_wrap_Matrix6x10_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 258: flag=_wrap_Matrix6x10_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 259: flag=_wrap_Matrix6x10_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 260: flag=_wrap_Matrix6x10_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 261: flag=_wrap_Matrix6x10_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 262: flag=_wrap_Matrix6x10_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 263: flag=_wrap_Matrix6x10_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 264: flag=_wrap_Matrix6x10_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 265: flag=_wrap_Matrix6x10_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 266: flag=_wrap_Matrix6x10_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 267: flag=_wrap_Matrix6x10_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 268: flag=_wrap_Matrix6x10_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 269: flag=_wrap_delete_Matrix6x10(resc,resv,argc,(mxArray**)(argv)); break;
+  case 270: flag=_wrap_new_Matrix10x16(resc,resv,argc,(mxArray**)(argv)); break;
+  case 271: flag=_wrap_Matrix10x16_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 272: flag=_wrap_Matrix10x16_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 273: flag=_wrap_Matrix10x16_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 274: flag=_wrap_Matrix10x16_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 275: flag=_wrap_Matrix10x16_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 276: flag=_wrap_Matrix10x16_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 277: flag=_wrap_Matrix10x16_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 278: flag=_wrap_Matrix10x16_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 279: flag=_wrap_Matrix10x16_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 280: flag=_wrap_Matrix10x16_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 281: flag=_wrap_Matrix10x16_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 282: flag=_wrap_Matrix10x16_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 283: flag=_wrap_Matrix10x16_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 284: flag=_wrap_delete_Matrix10x16(resc,resv,argc,(mxArray**)(argv)); break;
+  case 285: flag=_wrap_new_Vector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 286: flag=_wrap_Vector3_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 287: flag=_wrap_Vector3_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 288: flag=_wrap_Vector3_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 289: flag=_wrap_Vector3_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 290: flag=_wrap_Vector3_cbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 291: flag=_wrap_Vector3_cend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 292: flag=_wrap_Vector3_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 293: flag=_wrap_Vector3_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 294: flag=_wrap_Vector3_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 295: flag=_wrap_Vector3_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 296: flag=_wrap_Vector3_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 297: flag=_wrap_Vector3_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 298: flag=_wrap_Vector3_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 299: flag=_wrap_Vector3_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 300: flag=_wrap_Vector3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 301: flag=_wrap_Vector3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 302: flag=_wrap_delete_Vector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 303: flag=_wrap_new_Vector4(resc,resv,argc,(mxArray**)(argv)); break;
+  case 304: flag=_wrap_Vector4_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 305: flag=_wrap_Vector4_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 306: flag=_wrap_Vector4_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 307: flag=_wrap_Vector4_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 308: flag=_wrap_Vector4_cbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 309: flag=_wrap_Vector4_cend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 310: flag=_wrap_Vector4_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 311: flag=_wrap_Vector4_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 312: flag=_wrap_Vector4_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 313: flag=_wrap_Vector4_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 314: flag=_wrap_Vector4_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 315: flag=_wrap_Vector4_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 316: flag=_wrap_Vector4_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 317: flag=_wrap_Vector4_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 318: flag=_wrap_Vector4_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 319: flag=_wrap_Vector4_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 320: flag=_wrap_delete_Vector4(resc,resv,argc,(mxArray**)(argv)); break;
+  case 321: flag=_wrap_new_Vector6(resc,resv,argc,(mxArray**)(argv)); break;
+  case 322: flag=_wrap_Vector6_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 323: flag=_wrap_Vector6_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 324: flag=_wrap_Vector6_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 325: flag=_wrap_Vector6_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 326: flag=_wrap_Vector6_cbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 327: flag=_wrap_Vector6_cend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 328: flag=_wrap_Vector6_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 329: flag=_wrap_Vector6_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 330: flag=_wrap_Vector6_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 331: flag=_wrap_Vector6_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 332: flag=_wrap_Vector6_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 333: flag=_wrap_Vector6_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 334: flag=_wrap_Vector6_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 335: flag=_wrap_Vector6_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 336: flag=_wrap_Vector6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 337: flag=_wrap_Vector6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 338: flag=_wrap_delete_Vector6(resc,resv,argc,(mxArray**)(argv)); break;
+  case 339: flag=_wrap_new_Vector10(resc,resv,argc,(mxArray**)(argv)); break;
+  case 340: flag=_wrap_Vector10_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 341: flag=_wrap_Vector10_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 342: flag=_wrap_Vector10_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 343: flag=_wrap_Vector10_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 344: flag=_wrap_Vector10_cbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 345: flag=_wrap_Vector10_cend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 346: flag=_wrap_Vector10_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 347: flag=_wrap_Vector10_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 348: flag=_wrap_Vector10_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 349: flag=_wrap_Vector10_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 350: flag=_wrap_Vector10_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 351: flag=_wrap_Vector10_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 352: flag=_wrap_Vector10_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 353: flag=_wrap_Vector10_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 354: flag=_wrap_Vector10_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 355: flag=_wrap_Vector10_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 356: flag=_wrap_delete_Vector10(resc,resv,argc,(mxArray**)(argv)); break;
+  case 357: flag=_wrap_new_Vector16(resc,resv,argc,(mxArray**)(argv)); break;
+  case 358: flag=_wrap_Vector16_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 359: flag=_wrap_Vector16_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 360: flag=_wrap_Vector16_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 361: flag=_wrap_Vector16_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 362: flag=_wrap_Vector16_cbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 363: flag=_wrap_Vector16_cend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 364: flag=_wrap_Vector16_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 365: flag=_wrap_Vector16_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 366: flag=_wrap_Vector16_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 367: flag=_wrap_Vector16_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 368: flag=_wrap_Vector16_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 369: flag=_wrap_Vector16_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 370: flag=_wrap_Vector16_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 371: flag=_wrap_Vector16_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 372: flag=_wrap_Vector16_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 373: flag=_wrap_Vector16_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 374: flag=_wrap_delete_Vector16(resc,resv,argc,(mxArray**)(argv)); break;
+  case 375: flag=_wrap_new_PositionRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 376: flag=_wrap_PositionRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 377: flag=_wrap_PositionRaw_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 378: flag=_wrap_PositionRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 379: flag=_wrap_PositionRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 380: flag=_wrap_PositionRaw_changePointOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 381: flag=_wrap_PositionRaw_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 382: flag=_wrap_PositionRaw_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 383: flag=_wrap_delete_PositionRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 384: flag=_wrap_new_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 385: flag=_wrap_PositionSemantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 386: flag=_wrap_PositionSemantics_getPoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 387: flag=_wrap_PositionSemantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 388: flag=_wrap_PositionSemantics_getReferencePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 389: flag=_wrap_PositionSemantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 390: flag=_wrap_PositionSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 391: flag=_wrap_PositionSemantics_setPoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 392: flag=_wrap_PositionSemantics_setBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 393: flag=_wrap_PositionSemantics_setReferencePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 394: flag=_wrap_PositionSemantics_setRefBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 395: flag=_wrap_PositionSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 396: flag=_wrap_PositionSemantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 397: flag=_wrap_PositionSemantics_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 398: flag=_wrap_PositionSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 399: flag=_wrap_PositionSemantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 400: flag=_wrap_PositionSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 401: flag=_wrap_PositionSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 402: flag=_wrap_delete_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 403: flag=_wrap_new_Position(resc,resv,argc,(mxArray**)(argv)); break;
+  case 404: flag=_wrap_Position_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 405: flag=_wrap_Position_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 406: flag=_wrap_Position_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 407: flag=_wrap_Position_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 408: flag=_wrap_Position_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 409: flag=_wrap_Position_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 410: flag=_wrap_Position_changePointOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 411: flag=_wrap_Position_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 412: flag=_wrap_Position_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 413: flag=_wrap_Position_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 414: flag=_wrap_Position_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 415: flag=_wrap_Position_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 416: flag=_wrap_Position_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 417: flag=_wrap_Position_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 418: flag=_wrap_delete_Position(resc,resv,argc,(mxArray**)(argv)); break;
+  case 419: flag=_wrap_new_GeomVector3Semantics__LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 420: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 421: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 422: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 423: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 424: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 425: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 426: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 427: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 428: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 429: flag=_wrap_delete_GeomVector3Semantics__LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 430: flag=_wrap_new_GeomVector3Semantics__AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 431: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 432: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 433: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 434: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 435: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 436: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 437: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 438: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 439: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 440: flag=_wrap_delete_GeomVector3Semantics__AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 441: flag=_wrap_new_GeomVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 442: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 443: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 444: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 445: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 446: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 447: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 448: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 449: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 450: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 451: flag=_wrap_delete_GeomVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 452: flag=_wrap_new_GeomVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 453: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 454: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 455: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 456: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 457: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 458: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 459: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 460: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 461: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 462: flag=_wrap_delete_GeomVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 463: flag=_wrap_GeomVector3__LinearMotionVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 464: flag=_wrap_GeomVector3__LinearMotionVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 465: flag=_wrap_new_GeomVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 466: flag=_wrap_GeomVector3__LinearMotionVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 467: flag=_wrap_GeomVector3__LinearMotionVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 468: flag=_wrap_GeomVector3__LinearMotionVector3_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 469: flag=_wrap_GeomVector3__LinearMotionVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 470: flag=_wrap_GeomVector3__LinearMotionVector3_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 471: flag=_wrap_GeomVector3__LinearMotionVector3_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 472: flag=_wrap_GeomVector3__LinearMotionVector3_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 473: flag=_wrap_GeomVector3__LinearMotionVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 474: flag=_wrap_delete_GeomVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 475: flag=_wrap_GeomVector3__AngularMotionVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 476: flag=_wrap_GeomVector3__AngularMotionVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 477: flag=_wrap_new_GeomVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 478: flag=_wrap_GeomVector3__AngularMotionVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 479: flag=_wrap_GeomVector3__AngularMotionVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 480: flag=_wrap_GeomVector3__AngularMotionVector3_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 481: flag=_wrap_GeomVector3__AngularMotionVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 482: flag=_wrap_GeomVector3__AngularMotionVector3_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 483: flag=_wrap_GeomVector3__AngularMotionVector3_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 484: flag=_wrap_GeomVector3__AngularMotionVector3_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 485: flag=_wrap_GeomVector3__AngularMotionVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 486: flag=_wrap_delete_GeomVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 487: flag=_wrap_GeomVector3__LinearForceVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 488: flag=_wrap_GeomVector3__LinearForceVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 489: flag=_wrap_new_GeomVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 490: flag=_wrap_GeomVector3__LinearForceVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 491: flag=_wrap_GeomVector3__LinearForceVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 492: flag=_wrap_GeomVector3__LinearForceVector3_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 493: flag=_wrap_GeomVector3__LinearForceVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 494: flag=_wrap_GeomVector3__LinearForceVector3_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 495: flag=_wrap_GeomVector3__LinearForceVector3_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 496: flag=_wrap_GeomVector3__LinearForceVector3_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 497: flag=_wrap_GeomVector3__LinearForceVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 498: flag=_wrap_delete_GeomVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 499: flag=_wrap_GeomVector3__AngularForceVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 500: flag=_wrap_GeomVector3__AngularForceVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 501: flag=_wrap_new_GeomVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 502: flag=_wrap_GeomVector3__AngularForceVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 503: flag=_wrap_GeomVector3__AngularForceVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 504: flag=_wrap_GeomVector3__AngularForceVector3_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 505: flag=_wrap_GeomVector3__AngularForceVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 506: flag=_wrap_GeomVector3__AngularForceVector3_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 507: flag=_wrap_GeomVector3__AngularForceVector3_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 508: flag=_wrap_GeomVector3__AngularForceVector3_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 509: flag=_wrap_GeomVector3__AngularForceVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 510: flag=_wrap_delete_GeomVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 511: flag=_wrap_new_ForceVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 512: flag=_wrap_ForceVector3Semantics__LinearForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 513: flag=_wrap_ForceVector3Semantics__LinearForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 514: flag=_wrap_delete_ForceVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 515: flag=_wrap_new_ForceVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 516: flag=_wrap_ForceVector3Semantics__AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 517: flag=_wrap_ForceVector3Semantics__AngularForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 518: flag=_wrap_delete_ForceVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 519: flag=_wrap_new_MotionVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 520: flag=_wrap_MotionVector3__LinearMotionVector3_cross(resc,resv,argc,(mxArray**)(argv)); break;
+  case 521: flag=_wrap_delete_MotionVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 522: flag=_wrap_new_MotionVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 523: flag=_wrap_MotionVector3__AngularMotionVector3_cross(resc,resv,argc,(mxArray**)(argv)); break;
+  case 524: flag=_wrap_delete_MotionVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 525: flag=_wrap_new_ForceVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 526: flag=_wrap_delete_ForceVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 527: flag=_wrap_new_ForceVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 528: flag=_wrap_delete_ForceVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 529: flag=_wrap_new_LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 530: flag=_wrap_LinearMotionVector3Semantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 531: flag=_wrap_LinearMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 532: flag=_wrap_delete_LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 533: flag=_wrap_new_LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 534: flag=_wrap_LinearMotionVector3_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 535: flag=_wrap_delete_LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 536: flag=_wrap_new_AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 537: flag=_wrap_delete_AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 538: flag=_wrap_new_AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 539: flag=_wrap_AngularMotionVector3_exp(resc,resv,argc,(mxArray**)(argv)); break;
+  case 540: flag=_wrap_delete_AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 541: flag=_wrap_new_LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 542: flag=_wrap_delete_LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 543: flag=_wrap_new_LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 544: flag=_wrap_delete_LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 545: flag=_wrap_new_AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 546: flag=_wrap_AngularForceVector3Semantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 547: flag=_wrap_AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 548: flag=_wrap_delete_AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 549: flag=_wrap_new_AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 550: flag=_wrap_AngularForceVector3_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 551: flag=_wrap_delete_AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 552: flag=_wrap_new_SpatialMotionVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 553: flag=_wrap_SpatialMotionVectorSemanticsBase_check_linear2angularConsistency(resc,resv,argc,(mxArray**)(argv)); break;
+  case 554: flag=_wrap_SpatialMotionVectorSemanticsBase_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 555: flag=_wrap_SpatialMotionVectorSemanticsBase_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 556: flag=_wrap_delete_SpatialMotionVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 557: flag=_wrap_new_SpatialForceVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 558: flag=_wrap_SpatialForceVectorSemanticsBase_check_linear2angularConsistency(resc,resv,argc,(mxArray**)(argv)); break;
+  case 559: flag=_wrap_SpatialForceVectorSemanticsBase_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 560: flag=_wrap_SpatialForceVectorSemanticsBase_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 561: flag=_wrap_delete_SpatialForceVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 562: flag=_wrap_new_SpatialMotionVectorBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 563: flag=_wrap_SpatialMotionVectorBase_getLinearVec3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 564: flag=_wrap_SpatialMotionVectorBase_getAngularVec3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 565: flag=_wrap_SpatialMotionVectorBase_setLinearVec3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 566: flag=_wrap_SpatialMotionVectorBase_setAngularVec3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 567: flag=_wrap_SpatialMotionVectorBase_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 568: flag=_wrap_SpatialMotionVectorBase_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 569: flag=_wrap_SpatialMotionVectorBase_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 570: flag=_wrap_SpatialMotionVectorBase_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 571: flag=_wrap_SpatialMotionVectorBase_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 572: flag=_wrap_SpatialMotionVectorBase_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 573: flag=_wrap_SpatialMotionVectorBase_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 574: flag=_wrap_SpatialMotionVectorBase_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 575: flag=_wrap_SpatialMotionVectorBase_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 576: flag=_wrap_SpatialMotionVectorBase_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 577: flag=_wrap_SpatialMotionVectorBase_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 578: flag=_wrap_SpatialMotionVectorBase_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 579: flag=_wrap_SpatialMotionVectorBase_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 580: flag=_wrap_SpatialMotionVectorBase_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 581: flag=_wrap_SpatialMotionVectorBase_asVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 582: flag=_wrap_SpatialMotionVectorBase_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 583: flag=_wrap_SpatialMotionVectorBase_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 584: flag=_wrap_SpatialMotionVectorBase_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 585: flag=_wrap_SpatialMotionVectorBase_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 586: flag=_wrap_delete_SpatialMotionVectorBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 587: flag=_wrap_new_SpatialForceVectorBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 588: flag=_wrap_SpatialForceVectorBase_getLinearVec3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 589: flag=_wrap_SpatialForceVectorBase_getAngularVec3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 590: flag=_wrap_SpatialForceVectorBase_setLinearVec3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 591: flag=_wrap_SpatialForceVectorBase_setAngularVec3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 592: flag=_wrap_SpatialForceVectorBase_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 593: flag=_wrap_SpatialForceVectorBase_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 594: flag=_wrap_SpatialForceVectorBase_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 595: flag=_wrap_SpatialForceVectorBase_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 596: flag=_wrap_SpatialForceVectorBase_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 597: flag=_wrap_SpatialForceVectorBase_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 598: flag=_wrap_SpatialForceVectorBase_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 599: flag=_wrap_SpatialForceVectorBase_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 600: flag=_wrap_SpatialForceVectorBase_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 601: flag=_wrap_SpatialForceVectorBase_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 602: flag=_wrap_SpatialForceVectorBase_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 603: flag=_wrap_SpatialForceVectorBase_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 604: flag=_wrap_SpatialForceVectorBase_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 605: flag=_wrap_SpatialForceVectorBase_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 606: flag=_wrap_SpatialForceVectorBase_asVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 607: flag=_wrap_SpatialForceVectorBase_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 608: flag=_wrap_SpatialForceVectorBase_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 609: flag=_wrap_SpatialForceVectorBase_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 610: flag=_wrap_SpatialForceVectorBase_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 611: flag=_wrap_delete_SpatialForceVectorBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 612: flag=_wrap_new_Dummy(resc,resv,argc,(mxArray**)(argv)); break;
+  case 613: flag=_wrap_delete_Dummy(resc,resv,argc,(mxArray**)(argv)); break;
+  case 614: flag=_wrap_new_SpatialMotionVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 615: flag=_wrap_SpatialMotionVector_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 616: flag=_wrap_SpatialMotionVector_cross(resc,resv,argc,(mxArray**)(argv)); break;
+  case 617: flag=_wrap_SpatialMotionVector_asCrossProductMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 618: flag=_wrap_SpatialMotionVector_asCrossProductMatrixWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 619: flag=_wrap_SpatialMotionVector_exp(resc,resv,argc,(mxArray**)(argv)); break;
+  case 620: flag=_wrap_delete_SpatialMotionVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 621: flag=_wrap_new_SpatialForceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 622: flag=_wrap_delete_SpatialForceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 623: flag=_wrap_SpatialForceVector_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 624: flag=_wrap_new_Twist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 625: flag=_wrap_Twist_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 626: flag=_wrap_Twist_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 627: flag=_wrap_Twist_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 628: flag=_wrap_Twist_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 629: flag=_wrap_delete_Twist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 630: flag=_wrap_new_Wrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 631: flag=_wrap_Wrench_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 632: flag=_wrap_Wrench_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 633: flag=_wrap_Wrench_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 634: flag=_wrap_delete_Wrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 635: flag=_wrap_new_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 636: flag=_wrap_SpatialMomentum_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 637: flag=_wrap_SpatialMomentum_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 638: flag=_wrap_SpatialMomentum_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 639: flag=_wrap_delete_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 640: flag=_wrap_new_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 641: flag=_wrap_SpatialAcc_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 642: flag=_wrap_SpatialAcc_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 643: flag=_wrap_SpatialAcc_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 644: flag=_wrap_delete_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 645: flag=_wrap_new_ClassicalAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 646: flag=_wrap_ClassicalAcc_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 647: flag=_wrap_ClassicalAcc_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 648: flag=_wrap_ClassicalAcc_fromSpatial(resc,resv,argc,(mxArray**)(argv)); break;
+  case 649: flag=_wrap_ClassicalAcc_toSpatial(resc,resv,argc,(mxArray**)(argv)); break;
+  case 650: flag=_wrap_delete_ClassicalAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 651: flag=_wrap_new_Direction(resc,resv,argc,(mxArray**)(argv)); break;
+  case 652: flag=_wrap_Direction_Normalize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 653: flag=_wrap_Direction_isParallel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 654: flag=_wrap_Direction_isPerpendicular(resc,resv,argc,(mxArray**)(argv)); break;
+  case 655: flag=_wrap_Direction_reverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 656: flag=_wrap_Direction_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 657: flag=_wrap_Direction_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 658: flag=_wrap_Direction_Default(resc,resv,argc,(mxArray**)(argv)); break;
+  case 659: flag=_wrap_delete_Direction(resc,resv,argc,(mxArray**)(argv)); break;
+  case 660: flag=_wrap_new_Axis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 661: flag=_wrap_Axis_getDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 662: flag=_wrap_Axis_getOrigin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 663: flag=_wrap_Axis_setDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 664: flag=_wrap_Axis_setOrigin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 665: flag=_wrap_Axis_getRotationTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 666: flag=_wrap_Axis_getRotationTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 667: flag=_wrap_Axis_getRotationTwist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 668: flag=_wrap_Axis_getRotationSpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 669: flag=_wrap_Axis_getTranslationTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 670: flag=_wrap_Axis_getTranslationTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 671: flag=_wrap_Axis_getTranslationTwist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 672: flag=_wrap_Axis_getTranslationSpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 673: flag=_wrap_Axis_isParallel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 674: flag=_wrap_Axis_reverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 675: flag=_wrap_Axis_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 676: flag=_wrap_Axis_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 677: flag=_wrap_delete_Axis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 678: flag=_wrap_new_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 679: flag=_wrap_RotationalInertiaRaw_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 680: flag=_wrap_delete_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 681: flag=_wrap_new_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 682: flag=_wrap_SpatialInertiaRaw_fromRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 683: flag=_wrap_SpatialInertiaRaw_getMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 684: flag=_wrap_SpatialInertiaRaw_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 685: flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 686: flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 687: flag=_wrap_SpatialInertiaRaw_combine(resc,resv,argc,(mxArray**)(argv)); break;
+  case 688: flag=_wrap_SpatialInertiaRaw_multiply(resc,resv,argc,(mxArray**)(argv)); break;
+  case 689: flag=_wrap_SpatialInertiaRaw_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 690: flag=_wrap_delete_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 691: flag=_wrap_new_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 692: flag=_wrap_SpatialInertia_combine(resc,resv,argc,(mxArray**)(argv)); break;
+  case 693: flag=_wrap_SpatialInertia_asMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 694: flag=_wrap_SpatialInertia_applyInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 695: flag=_wrap_SpatialInertia_getInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 696: flag=_wrap_SpatialInertia_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 697: flag=_wrap_SpatialInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 698: flag=_wrap_SpatialInertia_biasWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 699: flag=_wrap_SpatialInertia_biasWrenchDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 700: flag=_wrap_SpatialInertia_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 701: flag=_wrap_SpatialInertia_asVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 702: flag=_wrap_SpatialInertia_fromVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 703: flag=_wrap_SpatialInertia_isPhysicallyConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 704: flag=_wrap_SpatialInertia_momentumRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 705: flag=_wrap_SpatialInertia_momentumDerivativeRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 706: flag=_wrap_SpatialInertia_momentumDerivativeSlotineLiRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 707: flag=_wrap_delete_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 708: flag=_wrap_new_ArticulatedBodyInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 709: flag=_wrap_ArticulatedBodyInertia_getLinearLinearSubmatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 710: flag=_wrap_ArticulatedBodyInertia_getLinearAngularSubmatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 711: flag=_wrap_ArticulatedBodyInertia_getAngularAngularSubmatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 712: flag=_wrap_ArticulatedBodyInertia_combine(resc,resv,argc,(mxArray**)(argv)); break;
+  case 713: flag=_wrap_ArticulatedBodyInertia_applyInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 714: flag=_wrap_ArticulatedBodyInertia_asMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 715: flag=_wrap_ArticulatedBodyInertia_getInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 716: flag=_wrap_ArticulatedBodyInertia_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 717: flag=_wrap_ArticulatedBodyInertia_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 718: flag=_wrap_ArticulatedBodyInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 719: flag=_wrap_ArticulatedBodyInertia_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 720: flag=_wrap_ArticulatedBodyInertia_ABADyadHelper(resc,resv,argc,(mxArray**)(argv)); break;
+  case 721: flag=_wrap_ArticulatedBodyInertia_ABADyadHelperLin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 722: flag=_wrap_delete_ArticulatedBodyInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 723: flag=_wrap_RigidBodyInertiaNonLinearParametrization_mass_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 724: flag=_wrap_RigidBodyInertiaNonLinearParametrization_mass_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 725: flag=_wrap_RigidBodyInertiaNonLinearParametrization_com_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 726: flag=_wrap_RigidBodyInertiaNonLinearParametrization_com_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 727: flag=_wrap_RigidBodyInertiaNonLinearParametrization_link_R_centroidal_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 728: flag=_wrap_RigidBodyInertiaNonLinearParametrization_link_R_centroidal_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 729: flag=_wrap_RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 730: flag=_wrap_RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 731: flag=_wrap_RigidBodyInertiaNonLinearParametrization_getLinkCentroidalTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 732: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromRigidBodyInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 733: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 734: flag=_wrap_RigidBodyInertiaNonLinearParametrization_toRigidBodyInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 735: flag=_wrap_RigidBodyInertiaNonLinearParametrization_isPhysicallyConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 736: flag=_wrap_RigidBodyInertiaNonLinearParametrization_asVectorWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break;
+  case 737: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromVectorWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break;
+  case 738: flag=_wrap_RigidBodyInertiaNonLinearParametrization_getGradientWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break;
+  case 739: flag=_wrap_new_RigidBodyInertiaNonLinearParametrization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 740: flag=_wrap_delete_RigidBodyInertiaNonLinearParametrization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 741: flag=_wrap_new_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 742: flag=_wrap_RotationRaw_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 743: flag=_wrap_RotationRaw_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 744: flag=_wrap_RotationRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 745: flag=_wrap_RotationRaw_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 746: flag=_wrap_RotationRaw_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 747: flag=_wrap_RotationRaw_RotX(resc,resv,argc,(mxArray**)(argv)); break;
+  case 748: flag=_wrap_RotationRaw_RotY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 749: flag=_wrap_RotationRaw_RotZ(resc,resv,argc,(mxArray**)(argv)); break;
+  case 750: flag=_wrap_RotationRaw_RPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 751: flag=_wrap_RotationRaw_Identity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 752: flag=_wrap_RotationRaw_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 753: flag=_wrap_RotationRaw_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 754: flag=_wrap_delete_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 755: flag=_wrap_new_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 756: flag=_wrap_RotationSemantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break;
+  case 757: flag=_wrap_RotationSemantics_getOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 758: flag=_wrap_RotationSemantics_getBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 759: flag=_wrap_RotationSemantics_getReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 760: flag=_wrap_RotationSemantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 761: flag=_wrap_RotationSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 762: flag=_wrap_RotationSemantics_setOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 763: flag=_wrap_RotationSemantics_setBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 764: flag=_wrap_RotationSemantics_setReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 765: flag=_wrap_RotationSemantics_setRefBody(resc,resv,argc,(mxArray**)(argv)); break;
+  case 766: flag=_wrap_RotationSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 767: flag=_wrap_RotationSemantics_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 768: flag=_wrap_RotationSemantics_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 769: flag=_wrap_RotationSemantics_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 770: flag=_wrap_RotationSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 771: flag=_wrap_RotationSemantics_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 772: flag=_wrap_RotationSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 773: flag=_wrap_RotationSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 774: flag=_wrap_delete_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 775: flag=_wrap_new_Rotation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 776: flag=_wrap_Rotation_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 777: flag=_wrap_Rotation_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 778: flag=_wrap_Rotation_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 779: flag=_wrap_Rotation_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 780: flag=_wrap_Rotation_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 781: flag=_wrap_Rotation_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 782: flag=_wrap_Rotation_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 783: flag=_wrap_Rotation_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 784: flag=_wrap_Rotation_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 785: flag=_wrap_Rotation_log(resc,resv,argc,(mxArray**)(argv)); break;
+  case 786: flag=_wrap_Rotation_fromQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
+  case 787: flag=_wrap_Rotation_getRPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 788: flag=_wrap_Rotation_asRPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 789: flag=_wrap_Rotation_getQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
+  case 790: flag=_wrap_Rotation_asQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
+  case 791: flag=_wrap_Rotation_RotX(resc,resv,argc,(mxArray**)(argv)); break;
+  case 792: flag=_wrap_Rotation_RotY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 793: flag=_wrap_Rotation_RotZ(resc,resv,argc,(mxArray**)(argv)); break;
+  case 794: flag=_wrap_Rotation_RotAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 795: flag=_wrap_Rotation_RotAxisDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 796: flag=_wrap_Rotation_RPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 797: flag=_wrap_Rotation_RPYRightTrivializedDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 798: flag=_wrap_Rotation_RPYRightTrivializedDerivativeRateOfChange(resc,resv,argc,(mxArray**)(argv)); break;
+  case 799: flag=_wrap_Rotation_RPYRightTrivializedDerivativeInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 800: flag=_wrap_Rotation_RPYRightTrivializedDerivativeInverseRateOfChange(resc,resv,argc,(mxArray**)(argv)); break;
+  case 801: flag=_wrap_Rotation_QuaternionRightTrivializedDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 802: flag=_wrap_Rotation_QuaternionRightTrivializedDerivativeInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 803: flag=_wrap_Rotation_Identity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 804: flag=_wrap_Rotation_RotationFromQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
+  case 805: flag=_wrap_Rotation_leftJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 806: flag=_wrap_Rotation_leftJacobianInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 807: flag=_wrap_Rotation_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 808: flag=_wrap_Rotation_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 809: flag=_wrap_delete_Rotation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 810: flag=_wrap_new_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 811: flag=_wrap_TransformSemantics_getRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 812: flag=_wrap_TransformSemantics_getPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 813: flag=_wrap_TransformSemantics_setRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 814: flag=_wrap_TransformSemantics_setPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 815: flag=_wrap_TransformSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 816: flag=_wrap_TransformSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 817: flag=_wrap_delete_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 818: flag=_wrap_new_Transform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 819: flag=_wrap_Transform_fromHomogeneousTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 820: flag=_wrap_Transform_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 821: flag=_wrap_Transform_getRotation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 822: flag=_wrap_Transform_getPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 823: flag=_wrap_Transform_setRotation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 824: flag=_wrap_Transform_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 825: flag=_wrap_Transform_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 826: flag=_wrap_Transform_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 827: flag=_wrap_Transform_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 828: flag=_wrap_Transform_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 829: flag=_wrap_Transform_Identity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 830: flag=_wrap_Transform_asHomogeneousTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 831: flag=_wrap_Transform_asAdjointTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 832: flag=_wrap_Transform_asAdjointTransformWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 833: flag=_wrap_Transform_log(resc,resv,argc,(mxArray**)(argv)); break;
+  case 834: flag=_wrap_Transform_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 835: flag=_wrap_Transform_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 836: flag=_wrap_delete_Transform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 837: flag=_wrap_new_TransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 838: flag=_wrap_delete_TransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 839: flag=_wrap_TransformDerivative_getRotationDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 840: flag=_wrap_TransformDerivative_getPositionDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 841: flag=_wrap_TransformDerivative_setRotationDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 842: flag=_wrap_TransformDerivative_setPositionDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 843: flag=_wrap_TransformDerivative_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 844: flag=_wrap_TransformDerivative_asHomogeneousTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 845: flag=_wrap_TransformDerivative_asAdjointTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 846: flag=_wrap_TransformDerivative_asAdjointTransformWrenchDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 847: flag=_wrap_TransformDerivative_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 848: flag=_wrap_TransformDerivative_derivativeOfInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 849: flag=_wrap_TransformDerivative_transform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 850: flag=_wrap_dynamic_extent_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 851: flag=_wrap_DynamicSpan_extent_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 852: flag=_wrap_new_DynamicSpan(resc,resv,argc,(mxArray**)(argv)); break;
+  case 853: flag=_wrap_delete_DynamicSpan(resc,resv,argc,(mxArray**)(argv)); break;
+  case 854: flag=_wrap_DynamicSpan_first(resc,resv,argc,(mxArray**)(argv)); break;
+  case 855: flag=_wrap_DynamicSpan_last(resc,resv,argc,(mxArray**)(argv)); break;
+  case 856: flag=_wrap_DynamicSpan_subspan(resc,resv,argc,(mxArray**)(argv)); break;
+  case 857: flag=_wrap_DynamicSpan_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 858: flag=_wrap_DynamicSpan_size_bytes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 859: flag=_wrap_DynamicSpan_empty(resc,resv,argc,(mxArray**)(argv)); break;
+  case 860: flag=_wrap_DynamicSpan_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 861: flag=_wrap_DynamicSpan_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 862: flag=_wrap_DynamicSpan_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 863: flag=_wrap_DynamicSpan_at(resc,resv,argc,(mxArray**)(argv)); break;
+  case 864: flag=_wrap_DynamicSpan_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 865: flag=_wrap_DynamicSpan_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 866: flag=_wrap_DynamicSpan_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 867: flag=_wrap_DynamicSpan_cbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 868: flag=_wrap_DynamicSpan_cend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 869: flag=_wrap_DynamicSpan_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 870: flag=_wrap_DynamicSpan_rend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 871: flag=_wrap_DynamicSpan_crbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 872: flag=_wrap_DynamicSpan_crend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 873: flag=_wrap_LINK_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 874: flag=_wrap_LINK_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 875: flag=_wrap_LINK_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 876: flag=_wrap_LINK_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 877: flag=_wrap_JOINT_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 878: flag=_wrap_JOINT_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 879: flag=_wrap_JOINT_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 880: flag=_wrap_JOINT_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 881: flag=_wrap_DOF_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 882: flag=_wrap_DOF_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 883: flag=_wrap_DOF_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 884: flag=_wrap_DOF_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 885: flag=_wrap_FRAME_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 886: flag=_wrap_FRAME_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 887: flag=_wrap_FRAME_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 888: flag=_wrap_FRAME_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 889: flag=_wrap_TRAVERSAL_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 890: flag=_wrap_TRAVERSAL_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 891: flag=_wrap_new_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 892: flag=_wrap_LinkPositions_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 893: flag=_wrap_LinkPositions_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 894: flag=_wrap_LinkPositions_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 895: flag=_wrap_LinkPositions_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 896: flag=_wrap_LinkPositions_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 897: flag=_wrap_delete_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 898: flag=_wrap_new_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 899: flag=_wrap_LinkWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 900: flag=_wrap_LinkWrenches_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 901: flag=_wrap_LinkWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 902: flag=_wrap_LinkWrenches_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 903: flag=_wrap_LinkWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 904: flag=_wrap_LinkWrenches_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 905: flag=_wrap_delete_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 906: flag=_wrap_new_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 907: flag=_wrap_LinkInertias_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 908: flag=_wrap_LinkInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 909: flag=_wrap_LinkInertias_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 910: flag=_wrap_delete_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 911: flag=_wrap_new_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 912: flag=_wrap_LinkArticulatedBodyInertias_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 913: flag=_wrap_LinkArticulatedBodyInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 914: flag=_wrap_LinkArticulatedBodyInertias_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 915: flag=_wrap_delete_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 916: flag=_wrap_new_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 917: flag=_wrap_LinkVelArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 918: flag=_wrap_LinkVelArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 919: flag=_wrap_LinkVelArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 920: flag=_wrap_LinkVelArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 921: flag=_wrap_LinkVelArray_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 922: flag=_wrap_delete_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 923: flag=_wrap_new_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 924: flag=_wrap_LinkAccArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 925: flag=_wrap_LinkAccArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 926: flag=_wrap_LinkAccArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 927: flag=_wrap_LinkAccArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 928: flag=_wrap_LinkAccArray_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 929: flag=_wrap_delete_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 930: flag=_wrap_new_Link(resc,resv,argc,(mxArray**)(argv)); break;
+  case 931: flag=_wrap_Link_inertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 932: flag=_wrap_Link_setInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 933: flag=_wrap_Link_getInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 934: flag=_wrap_Link_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 935: flag=_wrap_Link_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 936: flag=_wrap_delete_Link(resc,resv,argc,(mxArray**)(argv)); break;
+  case 937: flag=_wrap_delete_IJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 938: flag=_wrap_IJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 939: flag=_wrap_IJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 940: flag=_wrap_IJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 941: flag=_wrap_IJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 942: flag=_wrap_IJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 943: flag=_wrap_IJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 944: flag=_wrap_IJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 945: flag=_wrap_IJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 946: flag=_wrap_IJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 947: flag=_wrap_IJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 948: flag=_wrap_IJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 949: flag=_wrap_IJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 950: flag=_wrap_IJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 951: flag=_wrap_IJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 952: flag=_wrap_IJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 953: flag=_wrap_IJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 954: flag=_wrap_IJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
+  case 955: flag=_wrap_IJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 956: flag=_wrap_IJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 957: flag=_wrap_IJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 958: flag=_wrap_IJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 959: flag=_wrap_IJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 960: flag=_wrap_IJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 961: flag=_wrap_IJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 962: flag=_wrap_IJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 963: flag=_wrap_IJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 964: flag=_wrap_IJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 965: flag=_wrap_IJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 966: flag=_wrap_IJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 967: flag=_wrap_IJoint_isRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 968: flag=_wrap_IJoint_isFixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 969: flag=_wrap_IJoint_asRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 970: flag=_wrap_IJoint_asFixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 971: flag=_wrap_new_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 972: flag=_wrap_delete_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 973: flag=_wrap_FixedJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 974: flag=_wrap_FixedJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 975: flag=_wrap_FixedJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 976: flag=_wrap_FixedJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 977: flag=_wrap_FixedJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 978: flag=_wrap_FixedJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 979: flag=_wrap_FixedJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 980: flag=_wrap_FixedJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 981: flag=_wrap_FixedJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 982: flag=_wrap_FixedJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 983: flag=_wrap_FixedJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 984: flag=_wrap_FixedJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 985: flag=_wrap_FixedJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 986: flag=_wrap_FixedJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 987: flag=_wrap_FixedJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 988: flag=_wrap_FixedJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 989: flag=_wrap_FixedJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
+  case 990: flag=_wrap_FixedJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 991: flag=_wrap_FixedJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 992: flag=_wrap_FixedJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 993: flag=_wrap_FixedJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 994: flag=_wrap_FixedJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 995: flag=_wrap_FixedJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 996: flag=_wrap_FixedJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 997: flag=_wrap_FixedJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 998: flag=_wrap_FixedJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 999: flag=_wrap_FixedJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1000: flag=_wrap_FixedJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1001: flag=_wrap_FixedJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1002: flag=_wrap_delete_MovableJointImpl1(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1003: flag=_wrap_MovableJointImpl1_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1004: flag=_wrap_MovableJointImpl1_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1005: flag=_wrap_MovableJointImpl1_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1006: flag=_wrap_MovableJointImpl1_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1007: flag=_wrap_MovableJointImpl1_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1008: flag=_wrap_MovableJointImpl1_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1009: flag=_wrap_MovableJointImpl1_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1010: flag=_wrap_MovableJointImpl1_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1011: flag=_wrap_delete_MovableJointImpl2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1012: flag=_wrap_MovableJointImpl2_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1013: flag=_wrap_MovableJointImpl2_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1014: flag=_wrap_MovableJointImpl2_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1015: flag=_wrap_MovableJointImpl2_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1016: flag=_wrap_MovableJointImpl2_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1017: flag=_wrap_MovableJointImpl2_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1018: flag=_wrap_MovableJointImpl2_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1019: flag=_wrap_MovableJointImpl2_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1020: flag=_wrap_delete_MovableJointImpl3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1021: flag=_wrap_MovableJointImpl3_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1022: flag=_wrap_MovableJointImpl3_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1023: flag=_wrap_MovableJointImpl3_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1024: flag=_wrap_MovableJointImpl3_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1025: flag=_wrap_MovableJointImpl3_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1026: flag=_wrap_MovableJointImpl3_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1027: flag=_wrap_MovableJointImpl3_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1028: flag=_wrap_MovableJointImpl3_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1029: flag=_wrap_delete_MovableJointImpl4(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1030: flag=_wrap_MovableJointImpl4_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1031: flag=_wrap_MovableJointImpl4_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1032: flag=_wrap_MovableJointImpl4_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1033: flag=_wrap_MovableJointImpl4_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1034: flag=_wrap_MovableJointImpl4_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1035: flag=_wrap_MovableJointImpl4_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1036: flag=_wrap_MovableJointImpl4_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1037: flag=_wrap_MovableJointImpl4_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1038: flag=_wrap_delete_MovableJointImpl5(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1039: flag=_wrap_MovableJointImpl5_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1040: flag=_wrap_MovableJointImpl5_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1041: flag=_wrap_MovableJointImpl5_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1042: flag=_wrap_MovableJointImpl5_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1043: flag=_wrap_MovableJointImpl5_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1044: flag=_wrap_MovableJointImpl5_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1045: flag=_wrap_MovableJointImpl5_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1046: flag=_wrap_MovableJointImpl5_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1047: flag=_wrap_delete_MovableJointImpl6(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1048: flag=_wrap_MovableJointImpl6_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1049: flag=_wrap_MovableJointImpl6_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1050: flag=_wrap_MovableJointImpl6_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1051: flag=_wrap_MovableJointImpl6_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1052: flag=_wrap_MovableJointImpl6_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1053: flag=_wrap_MovableJointImpl6_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1054: flag=_wrap_MovableJointImpl6_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1055: flag=_wrap_MovableJointImpl6_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1056: flag=_wrap_new_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1057: flag=_wrap_delete_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1058: flag=_wrap_RevoluteJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1059: flag=_wrap_RevoluteJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1060: flag=_wrap_RevoluteJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1061: flag=_wrap_RevoluteJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1062: flag=_wrap_RevoluteJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1063: flag=_wrap_RevoluteJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1064: flag=_wrap_RevoluteJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1065: flag=_wrap_RevoluteJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1066: flag=_wrap_RevoluteJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1067: flag=_wrap_RevoluteJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1068: flag=_wrap_RevoluteJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1069: flag=_wrap_RevoluteJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1070: flag=_wrap_RevoluteJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1071: flag=_wrap_RevoluteJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1072: flag=_wrap_RevoluteJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1073: flag=_wrap_RevoluteJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1074: flag=_wrap_RevoluteJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1075: flag=_wrap_RevoluteJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1076: flag=_wrap_RevoluteJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1077: flag=_wrap_RevoluteJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1078: flag=_wrap_RevoluteJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1079: flag=_wrap_RevoluteJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1080: flag=_wrap_RevoluteJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1081: flag=_wrap_new_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1082: flag=_wrap_delete_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1083: flag=_wrap_PrismaticJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1084: flag=_wrap_PrismaticJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1085: flag=_wrap_PrismaticJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1086: flag=_wrap_PrismaticJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1087: flag=_wrap_PrismaticJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1088: flag=_wrap_PrismaticJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1089: flag=_wrap_PrismaticJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1090: flag=_wrap_PrismaticJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1091: flag=_wrap_PrismaticJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1092: flag=_wrap_PrismaticJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1093: flag=_wrap_PrismaticJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1094: flag=_wrap_PrismaticJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1095: flag=_wrap_PrismaticJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1096: flag=_wrap_PrismaticJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1097: flag=_wrap_PrismaticJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1098: flag=_wrap_PrismaticJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1099: flag=_wrap_PrismaticJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1100: flag=_wrap_PrismaticJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1101: flag=_wrap_PrismaticJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1102: flag=_wrap_PrismaticJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1103: flag=_wrap_PrismaticJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1104: flag=_wrap_PrismaticJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1105: flag=_wrap_PrismaticJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1106: flag=_wrap_new_Traversal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1107: flag=_wrap_delete_Traversal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1108: flag=_wrap_Traversal_getNrOfVisitedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1109: flag=_wrap_Traversal_getLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1110: flag=_wrap_Traversal_getBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1111: flag=_wrap_Traversal_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1112: flag=_wrap_Traversal_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1113: flag=_wrap_Traversal_getParentLinkFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1114: flag=_wrap_Traversal_getParentJointFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1115: flag=_wrap_Traversal_getTraversalIndexFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1116: flag=_wrap_Traversal_reset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1117: flag=_wrap_Traversal_addTraversalBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1118: flag=_wrap_Traversal_addTraversalElement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1119: flag=_wrap_Traversal_isParentOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1120: flag=_wrap_Traversal_getChildLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1121: flag=_wrap_Traversal_getParentLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1122: flag=_wrap_Traversal_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1123: flag=_wrap_delete_SolidShape(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1124: flag=_wrap_SolidShape_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1125: flag=_wrap_SolidShape_name_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1126: flag=_wrap_SolidShape_name_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1127: flag=_wrap_SolidShape_nameIsValid_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1128: flag=_wrap_SolidShape_nameIsValid_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1129: flag=_wrap_SolidShape_link_H_geometry_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1130: flag=_wrap_SolidShape_link_H_geometry_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1131: flag=_wrap_SolidShape_material_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1132: flag=_wrap_SolidShape_material_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1133: flag=_wrap_SolidShape_isSphere(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1134: flag=_wrap_SolidShape_isBox(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1135: flag=_wrap_SolidShape_isCylinder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1136: flag=_wrap_SolidShape_isExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1137: flag=_wrap_SolidShape_asSphere(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1138: flag=_wrap_SolidShape_asBox(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1139: flag=_wrap_SolidShape_asCylinder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1140: flag=_wrap_SolidShape_asExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1141: flag=_wrap_delete_Sphere(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1142: flag=_wrap_Sphere_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1143: flag=_wrap_Sphere_radius_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1144: flag=_wrap_Sphere_radius_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1145: flag=_wrap_new_Sphere(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1146: flag=_wrap_delete_Box(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1147: flag=_wrap_Box_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1148: flag=_wrap_Box_x_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1149: flag=_wrap_Box_x_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1150: flag=_wrap_Box_y_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1151: flag=_wrap_Box_y_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1152: flag=_wrap_Box_z_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1153: flag=_wrap_Box_z_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1154: flag=_wrap_new_Box(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1155: flag=_wrap_delete_Cylinder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1156: flag=_wrap_Cylinder_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1157: flag=_wrap_Cylinder_length_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1158: flag=_wrap_Cylinder_length_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1159: flag=_wrap_Cylinder_radius_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1160: flag=_wrap_Cylinder_radius_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1161: flag=_wrap_new_Cylinder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1162: flag=_wrap_delete_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1163: flag=_wrap_ExternalMesh_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1164: flag=_wrap_ExternalMesh_filename_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1165: flag=_wrap_ExternalMesh_filename_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1166: flag=_wrap_ExternalMesh_scale_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1167: flag=_wrap_ExternalMesh_scale_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1168: flag=_wrap_new_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1169: flag=_wrap_new_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1170: flag=_wrap_ModelSolidShapes_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1171: flag=_wrap_delete_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1172: flag=_wrap_ModelSolidShapes_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1173: flag=_wrap_ModelSolidShapes_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1174: flag=_wrap_ModelSolidShapes_linkSolidShapes_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1175: flag=_wrap_ModelSolidShapes_linkSolidShapes_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1176: flag=_wrap_Neighbor_neighborLink_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1177: flag=_wrap_Neighbor_neighborLink_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1178: flag=_wrap_Neighbor_neighborJoint_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1179: flag=_wrap_Neighbor_neighborJoint_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1180: flag=_wrap_new_Neighbor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1181: flag=_wrap_delete_Neighbor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1182: flag=_wrap_new_Model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1183: flag=_wrap_Model_copy(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1184: flag=_wrap_delete_Model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1185: flag=_wrap_Model_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1186: flag=_wrap_Model_getLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1187: flag=_wrap_Model_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1188: flag=_wrap_Model_isValidLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1189: flag=_wrap_Model_getLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1190: flag=_wrap_Model_addLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1191: flag=_wrap_Model_getNrOfJoints(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1192: flag=_wrap_Model_getJointName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1193: flag=_wrap_Model_getTotalMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1194: flag=_wrap_Model_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1195: flag=_wrap_Model_getJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1196: flag=_wrap_Model_isValidJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1197: flag=_wrap_Model_isLinkNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1198: flag=_wrap_Model_isJointNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1199: flag=_wrap_Model_isFrameNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1200: flag=_wrap_Model_addJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1201: flag=_wrap_Model_addJointAndLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1202: flag=_wrap_Model_insertLinkToExistingJointAndAddJointForDisplacedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1203: flag=_wrap_Model_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1204: flag=_wrap_Model_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1205: flag=_wrap_Model_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1206: flag=_wrap_Model_addAdditionalFrameToLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1207: flag=_wrap_Model_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1208: flag=_wrap_Model_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1209: flag=_wrap_Model_isValidFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1210: flag=_wrap_Model_getFrameTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1211: flag=_wrap_Model_getFrameLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1212: flag=_wrap_Model_getLinkAdditionalFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1213: flag=_wrap_Model_getNrOfNeighbors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1214: flag=_wrap_Model_getNeighbor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1215: flag=_wrap_Model_setDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1216: flag=_wrap_Model_getDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1217: flag=_wrap_Model_computeFullTreeTraversal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1218: flag=_wrap_Model_getInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1219: flag=_wrap_Model_updateInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1220: flag=_wrap_Model_visualSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1221: flag=_wrap_Model_collisionSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1222: flag=_wrap_Model_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1223: flag=_wrap_new_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1224: flag=_wrap_JointPosDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1225: flag=_wrap_JointPosDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1226: flag=_wrap_delete_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1227: flag=_wrap_new_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1228: flag=_wrap_JointDOFsDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1229: flag=_wrap_JointDOFsDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1230: flag=_wrap_delete_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1231: flag=_wrap_new_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1232: flag=_wrap_DOFSpatialForceArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1233: flag=_wrap_DOFSpatialForceArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1234: flag=_wrap_DOFSpatialForceArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1235: flag=_wrap_delete_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1236: flag=_wrap_new_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1237: flag=_wrap_DOFSpatialMotionArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1238: flag=_wrap_DOFSpatialMotionArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1239: flag=_wrap_DOFSpatialMotionArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1240: flag=_wrap_delete_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1241: flag=_wrap_new_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1242: flag=_wrap_FrameFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1243: flag=_wrap_FrameFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1244: flag=_wrap_delete_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1245: flag=_wrap_new_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1246: flag=_wrap_MomentumFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1247: flag=_wrap_MomentumFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1248: flag=_wrap_delete_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1249: flag=_wrap_new_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1250: flag=_wrap_FreeFloatingMassMatrix_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1251: flag=_wrap_delete_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1252: flag=_wrap_new_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1253: flag=_wrap_FreeFloatingPos_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1254: flag=_wrap_FreeFloatingPos_worldBasePos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1255: flag=_wrap_FreeFloatingPos_jointPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1256: flag=_wrap_FreeFloatingPos_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1257: flag=_wrap_delete_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1258: flag=_wrap_new_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1259: flag=_wrap_FreeFloatingGeneralizedTorques_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1260: flag=_wrap_FreeFloatingGeneralizedTorques_baseWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1261: flag=_wrap_FreeFloatingGeneralizedTorques_jointTorques(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1262: flag=_wrap_FreeFloatingGeneralizedTorques_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1263: flag=_wrap_delete_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1264: flag=_wrap_new_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1265: flag=_wrap_FreeFloatingVel_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1266: flag=_wrap_FreeFloatingVel_baseVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1267: flag=_wrap_FreeFloatingVel_jointVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1268: flag=_wrap_FreeFloatingVel_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1269: flag=_wrap_delete_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1270: flag=_wrap_new_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1271: flag=_wrap_FreeFloatingAcc_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1272: flag=_wrap_FreeFloatingAcc_baseAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1273: flag=_wrap_FreeFloatingAcc_jointAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1274: flag=_wrap_FreeFloatingAcc_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1275: flag=_wrap_delete_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1276: flag=_wrap_ContactWrench_contactId(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1277: flag=_wrap_ContactWrench_contactPoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1278: flag=_wrap_ContactWrench_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1279: flag=_wrap_new_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1280: flag=_wrap_delete_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1281: flag=_wrap_new_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1282: flag=_wrap_LinkContactWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1283: flag=_wrap_LinkContactWrenches_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1284: flag=_wrap_LinkContactWrenches_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1285: flag=_wrap_LinkContactWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1286: flag=_wrap_LinkContactWrenches_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1287: flag=_wrap_LinkContactWrenches_computeNetWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1288: flag=_wrap_LinkContactWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1289: flag=_wrap_delete_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1290: flag=_wrap_SolidshapesVector_pop(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1291: flag=_wrap_SolidshapesVector_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1292: flag=_wrap_SolidshapesVector_setbrace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1293: flag=_wrap_SolidshapesVector_append(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1294: flag=_wrap_SolidshapesVector_empty(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1295: flag=_wrap_SolidshapesVector_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1296: flag=_wrap_SolidshapesVector_swap(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1297: flag=_wrap_SolidshapesVector_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1298: flag=_wrap_SolidshapesVector_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1299: flag=_wrap_SolidshapesVector_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1300: flag=_wrap_SolidshapesVector_rend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1301: flag=_wrap_SolidshapesVector_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1302: flag=_wrap_SolidshapesVector_get_allocator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1303: flag=_wrap_SolidshapesVector_pop_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1304: flag=_wrap_SolidshapesVector_erase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1305: flag=_wrap_new_SolidshapesVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1306: flag=_wrap_SolidshapesVector_push_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1307: flag=_wrap_SolidshapesVector_front(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1308: flag=_wrap_SolidshapesVector_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1309: flag=_wrap_SolidshapesVector_assign(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1310: flag=_wrap_SolidshapesVector_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1311: flag=_wrap_SolidshapesVector_insert(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1312: flag=_wrap_SolidshapesVector_reserve(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1313: flag=_wrap_SolidshapesVector_capacity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1314: flag=_wrap_delete_SolidshapesVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1315: flag=_wrap_linksSolidshapesVector_pop(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1316: flag=_wrap_linksSolidshapesVector_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1317: flag=_wrap_linksSolidshapesVector_setbrace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1318: flag=_wrap_linksSolidshapesVector_append(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1319: flag=_wrap_linksSolidshapesVector_empty(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1320: flag=_wrap_linksSolidshapesVector_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1321: flag=_wrap_linksSolidshapesVector_swap(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1322: flag=_wrap_linksSolidshapesVector_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1323: flag=_wrap_linksSolidshapesVector_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1324: flag=_wrap_linksSolidshapesVector_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1325: flag=_wrap_linksSolidshapesVector_rend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1326: flag=_wrap_linksSolidshapesVector_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1327: flag=_wrap_linksSolidshapesVector_get_allocator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1328: flag=_wrap_linksSolidshapesVector_pop_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1329: flag=_wrap_linksSolidshapesVector_erase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1330: flag=_wrap_new_linksSolidshapesVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1331: flag=_wrap_linksSolidshapesVector_push_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1332: flag=_wrap_linksSolidshapesVector_front(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1333: flag=_wrap_linksSolidshapesVector_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1334: flag=_wrap_linksSolidshapesVector_assign(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1335: flag=_wrap_linksSolidshapesVector_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1336: flag=_wrap_linksSolidshapesVector_insert(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1337: flag=_wrap_linksSolidshapesVector_reserve(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1338: flag=_wrap_linksSolidshapesVector_capacity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1339: flag=_wrap_delete_linksSolidshapesVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1340: flag=_wrap_ForwardPositionKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1341: flag=_wrap_ForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1342: flag=_wrap_ForwardPosVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1343: flag=_wrap_ForwardPosVelKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1344: flag=_wrap_ForwardAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1345: flag=_wrap_ForwardBiasAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1346: flag=_wrap_ComputeLinearAndAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1347: flag=_wrap_ComputeLinearAndAngularMomentumDerivativeBias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1348: flag=_wrap_RNEADynamicPhase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1349: flag=_wrap_CompositeRigidBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1350: flag=_wrap_new_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1351: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1352: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1353: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1354: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1355: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1356: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1357: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1358: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1359: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1360: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1361: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1362: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1363: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1364: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1365: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1366: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1367: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1368: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1369: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1370: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1371: flag=_wrap_delete_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1372: flag=_wrap_ArticulatedBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1373: flag=_wrap_InverseDynamicsInertialParametersRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1374: flag=_wrap_NR_OF_SENSOR_TYPES_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1375: flag=_wrap_isLinkSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1376: flag=_wrap_isJointSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1377: flag=_wrap_getSensorTypeSize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1378: flag=_wrap_delete_Sensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1379: flag=_wrap_Sensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1380: flag=_wrap_Sensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1381: flag=_wrap_Sensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1382: flag=_wrap_Sensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1383: flag=_wrap_Sensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1384: flag=_wrap_Sensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1385: flag=_wrap_Sensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1386: flag=_wrap_Sensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1387: flag=_wrap_delete_JointSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1388: flag=_wrap_JointSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1389: flag=_wrap_JointSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1390: flag=_wrap_JointSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1391: flag=_wrap_JointSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1392: flag=_wrap_JointSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1393: flag=_wrap_delete_LinkSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1394: flag=_wrap_LinkSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1395: flag=_wrap_LinkSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1396: flag=_wrap_LinkSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1397: flag=_wrap_LinkSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1398: flag=_wrap_LinkSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1399: flag=_wrap_LinkSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1400: flag=_wrap_LinkSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1401: flag=_wrap_new_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1402: flag=_wrap_delete_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1403: flag=_wrap_SensorsList_addSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1404: flag=_wrap_SensorsList_setSerialization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1405: flag=_wrap_SensorsList_getSerialization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1406: flag=_wrap_SensorsList_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1407: flag=_wrap_SensorsList_getSensorIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1408: flag=_wrap_SensorsList_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1409: flag=_wrap_SensorsList_getSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1410: flag=_wrap_SensorsList_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1411: flag=_wrap_SensorsList_removeSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1412: flag=_wrap_SensorsList_removeAllSensorsOfType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1413: flag=_wrap_SensorsList_getSixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1414: flag=_wrap_SensorsList_getAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1415: flag=_wrap_SensorsList_getGyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1416: flag=_wrap_SensorsList_getThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1417: flag=_wrap_SensorsList_getThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1418: flag=_wrap_new_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1419: flag=_wrap_delete_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1420: flag=_wrap_SensorsMeasurements_setNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1421: flag=_wrap_SensorsMeasurements_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1422: flag=_wrap_SensorsMeasurements_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1423: flag=_wrap_SensorsMeasurements_toVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1424: flag=_wrap_SensorsMeasurements_setMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1425: flag=_wrap_SensorsMeasurements_getMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1426: flag=_wrap_SensorsMeasurements_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1427: flag=_wrap_new_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1428: flag=_wrap_delete_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1429: flag=_wrap_SixAxisForceTorqueSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1430: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1431: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1432: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1433: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1434: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1435: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1436: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1437: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1438: flag=_wrap_SixAxisForceTorqueSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1439: flag=_wrap_SixAxisForceTorqueSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1440: flag=_wrap_SixAxisForceTorqueSensor_setAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1441: flag=_wrap_SixAxisForceTorqueSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1442: flag=_wrap_SixAxisForceTorqueSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1443: flag=_wrap_SixAxisForceTorqueSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1444: flag=_wrap_SixAxisForceTorqueSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1445: flag=_wrap_SixAxisForceTorqueSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1446: flag=_wrap_SixAxisForceTorqueSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1447: flag=_wrap_SixAxisForceTorqueSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1448: flag=_wrap_SixAxisForceTorqueSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1449: flag=_wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1450: flag=_wrap_SixAxisForceTorqueSensor_isLinkAttachedToSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1451: flag=_wrap_SixAxisForceTorqueSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1452: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1453: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1454: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1455: flag=_wrap_SixAxisForceTorqueSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1456: flag=_wrap_SixAxisForceTorqueSensor_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1457: flag=_wrap_new_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1458: flag=_wrap_delete_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1459: flag=_wrap_AccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1460: flag=_wrap_AccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1461: flag=_wrap_AccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1462: flag=_wrap_AccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1463: flag=_wrap_AccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1464: flag=_wrap_AccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1465: flag=_wrap_AccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1466: flag=_wrap_AccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1467: flag=_wrap_AccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1468: flag=_wrap_AccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1469: flag=_wrap_AccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1470: flag=_wrap_AccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1471: flag=_wrap_AccelerometerSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1472: flag=_wrap_AccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1473: flag=_wrap_new_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1474: flag=_wrap_delete_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1475: flag=_wrap_GyroscopeSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1476: flag=_wrap_GyroscopeSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1477: flag=_wrap_GyroscopeSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1478: flag=_wrap_GyroscopeSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1479: flag=_wrap_GyroscopeSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1480: flag=_wrap_GyroscopeSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1481: flag=_wrap_GyroscopeSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1482: flag=_wrap_GyroscopeSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1483: flag=_wrap_GyroscopeSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1484: flag=_wrap_GyroscopeSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1485: flag=_wrap_GyroscopeSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1486: flag=_wrap_GyroscopeSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1487: flag=_wrap_GyroscopeSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1488: flag=_wrap_GyroscopeSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1489: flag=_wrap_new_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1490: flag=_wrap_delete_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1491: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1492: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1493: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1494: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1495: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1496: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1497: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1498: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1499: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1500: flag=_wrap_ThreeAxisAngularAccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1501: flag=_wrap_ThreeAxisAngularAccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1502: flag=_wrap_ThreeAxisAngularAccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1503: flag=_wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1504: flag=_wrap_new_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1505: flag=_wrap_delete_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1506: flag=_wrap_ThreeAxisForceTorqueContactSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1507: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1508: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1509: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1510: flag=_wrap_ThreeAxisForceTorqueContactSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1511: flag=_wrap_ThreeAxisForceTorqueContactSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1512: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1513: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1514: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1515: flag=_wrap_ThreeAxisForceTorqueContactSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1516: flag=_wrap_ThreeAxisForceTorqueContactSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1517: flag=_wrap_ThreeAxisForceTorqueContactSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1518: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1519: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1520: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1521: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1522: flag=_wrap_predictSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1523: flag=_wrap_predictSensorsMeasurementsFromRawBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1524: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1525: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1526: flag=_wrap_URDFParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1527: flag=_wrap_URDFParserOptions_originalFilename_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1528: flag=_wrap_new_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1529: flag=_wrap_delete_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1530: flag=_wrap_modelFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1531: flag=_wrap_modelFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1532: flag=_wrap_dofsListFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1533: flag=_wrap_dofsListFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1534: flag=_wrap_sensorsFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1535: flag=_wrap_sensorsFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1536: flag=_wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1537: flag=_wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1538: flag=_wrap_ModelParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1539: flag=_wrap_ModelParserOptions_originalFilename_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1540: flag=_wrap_new_ModelParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1541: flag=_wrap_delete_ModelParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1542: flag=_wrap_new_ModelLoader(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1543: flag=_wrap_delete_ModelLoader(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1544: flag=_wrap_ModelLoader_parsingOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1545: flag=_wrap_ModelLoader_setParsingOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1546: flag=_wrap_ModelLoader_loadModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1547: flag=_wrap_ModelLoader_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1548: flag=_wrap_ModelLoader_loadReducedModelFromFullModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1549: flag=_wrap_ModelLoader_loadReducedModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1550: flag=_wrap_ModelLoader_loadReducedModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1551: flag=_wrap_ModelLoader_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1552: flag=_wrap_ModelLoader_sensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1553: flag=_wrap_ModelLoader_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1554: flag=_wrap_ModelExporterOptions_baseLink_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1555: flag=_wrap_ModelExporterOptions_baseLink_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1556: flag=_wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1557: flag=_wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1558: flag=_wrap_new_ModelExporterOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1559: flag=_wrap_delete_ModelExporterOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1560: flag=_wrap_new_ModelExporter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1561: flag=_wrap_delete_ModelExporter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1562: flag=_wrap_ModelExporter_exportingOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1563: flag=_wrap_ModelExporter_setExportingOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1564: flag=_wrap_ModelExporter_init(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1565: flag=_wrap_ModelExporter_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1566: flag=_wrap_ModelExporter_sensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1567: flag=_wrap_ModelExporter_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1568: flag=_wrap_ModelExporter_exportModelToString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1569: flag=_wrap_ModelExporter_exportModelToFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1570: flag=_wrap_new_ModelCalibrationHelper(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1571: flag=_wrap_delete_ModelCalibrationHelper(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1572: flag=_wrap_ModelCalibrationHelper_loadModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1573: flag=_wrap_ModelCalibrationHelper_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1574: flag=_wrap_ModelCalibrationHelper_updateModelInertialParametersToString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1575: flag=_wrap_ModelCalibrationHelper_updateModelInertialParametersToFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1576: flag=_wrap_ModelCalibrationHelper_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1577: flag=_wrap_ModelCalibrationHelper_sensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1578: flag=_wrap_ModelCalibrationHelper_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1579: flag=_wrap_new_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1580: flag=_wrap_UnknownWrenchContact_unknownType_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1581: flag=_wrap_UnknownWrenchContact_unknownType_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1582: flag=_wrap_UnknownWrenchContact_contactPoint_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1583: flag=_wrap_UnknownWrenchContact_contactPoint_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1584: flag=_wrap_UnknownWrenchContact_forceDirection_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1585: flag=_wrap_UnknownWrenchContact_forceDirection_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1586: flag=_wrap_UnknownWrenchContact_knownWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1587: flag=_wrap_UnknownWrenchContact_knownWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1588: flag=_wrap_UnknownWrenchContact_contactId_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1589: flag=_wrap_UnknownWrenchContact_contactId_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1590: flag=_wrap_delete_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1591: flag=_wrap_new_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1592: flag=_wrap_LinkUnknownWrenchContacts_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1593: flag=_wrap_LinkUnknownWrenchContacts_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1594: flag=_wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1595: flag=_wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1596: flag=_wrap_LinkUnknownWrenchContacts_addNewContactForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1597: flag=_wrap_LinkUnknownWrenchContacts_addNewContactInFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1598: flag=_wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1599: flag=_wrap_LinkUnknownWrenchContacts_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1600: flag=_wrap_LinkUnknownWrenchContacts_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1601: flag=_wrap_delete_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1602: flag=_wrap_new_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1603: flag=_wrap_estimateExternalWrenchesBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1604: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfSubModels(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1605: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1606: flag=_wrap_estimateExternalWrenchesBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1607: flag=_wrap_estimateExternalWrenchesBuffers_A_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1608: flag=_wrap_estimateExternalWrenchesBuffers_A_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1609: flag=_wrap_estimateExternalWrenchesBuffers_x_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1610: flag=_wrap_estimateExternalWrenchesBuffers_x_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1611: flag=_wrap_estimateExternalWrenchesBuffers_b_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1612: flag=_wrap_estimateExternalWrenchesBuffers_b_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1613: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1614: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1615: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1616: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1617: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1618: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1619: flag=_wrap_delete_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1620: flag=_wrap_estimateExternalWrenchesWithoutInternalFT(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1621: flag=_wrap_estimateExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1622: flag=_wrap_dynamicsEstimationForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1623: flag=_wrap_dynamicsEstimationForwardVelKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1624: flag=_wrap_computeLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1625: flag=_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1626: flag=_wrap_new_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1627: flag=_wrap_delete_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1628: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1629: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1630: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1631: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1632: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_sensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1633: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_submodels(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1634: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1635: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1636: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1637: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1638: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1639: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1640: flag=_wrap_new_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1641: flag=_wrap_delete_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1642: flag=_wrap_SimpleLeggedOdometry_setModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1643: flag=_wrap_SimpleLeggedOdometry_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1644: flag=_wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1645: flag=_wrap_SimpleLeggedOdometry_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1646: flag=_wrap_SimpleLeggedOdometry_updateKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1647: flag=_wrap_SimpleLeggedOdometry_init(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1648: flag=_wrap_SimpleLeggedOdometry_changeFixedFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1649: flag=_wrap_SimpleLeggedOdometry_getCurrentFixedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1650: flag=_wrap_SimpleLeggedOdometry_getWorldLinkTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1651: flag=_wrap_SimpleLeggedOdometry_getWorldFrameTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1652: flag=_wrap_isLinkBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1653: flag=_wrap_isJointBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1654: flag=_wrap_isDOFBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1655: flag=_wrap_new_BerdyOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1656: flag=_wrap_BerdyOptions_berdyVariant_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1657: flag=_wrap_BerdyOptions_berdyVariant_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1658: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1659: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1660: flag=_wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1661: flag=_wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1662: flag=_wrap_BerdyOptions_includeAllJointTorquesAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1663: flag=_wrap_BerdyOptions_includeAllJointTorquesAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1664: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1665: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1666: flag=_wrap_BerdyOptions_includeFixedBaseExternalWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1667: flag=_wrap_BerdyOptions_includeFixedBaseExternalWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1668: flag=_wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1669: flag=_wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1670: flag=_wrap_BerdyOptions_baseLink_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1671: flag=_wrap_BerdyOptions_baseLink_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1672: flag=_wrap_BerdyOptions_checkConsistency(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1673: flag=_wrap_delete_BerdyOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1674: flag=_wrap_BerdySensor_type_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1675: flag=_wrap_BerdySensor_type_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1676: flag=_wrap_BerdySensor_id_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1677: flag=_wrap_BerdySensor_id_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1678: flag=_wrap_BerdySensor_range_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1679: flag=_wrap_BerdySensor_range_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1680: flag=_wrap_BerdySensor_eq(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1681: flag=_wrap_BerdySensor_lt(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1682: flag=_wrap_new_BerdySensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1683: flag=_wrap_delete_BerdySensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1684: flag=_wrap_BerdyDynamicVariable_type_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1685: flag=_wrap_BerdyDynamicVariable_type_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1686: flag=_wrap_BerdyDynamicVariable_id_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1687: flag=_wrap_BerdyDynamicVariable_id_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1688: flag=_wrap_BerdyDynamicVariable_range_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1689: flag=_wrap_BerdyDynamicVariable_range_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1690: flag=_wrap_BerdyDynamicVariable_eq(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1691: flag=_wrap_BerdyDynamicVariable_lt(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1692: flag=_wrap_new_BerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1693: flag=_wrap_delete_BerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1694: flag=_wrap_new_BerdyHelper(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1695: flag=_wrap_BerdyHelper_dynamicTraversal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1696: flag=_wrap_BerdyHelper_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1697: flag=_wrap_BerdyHelper_sensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1698: flag=_wrap_BerdyHelper_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1699: flag=_wrap_BerdyHelper_init(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1700: flag=_wrap_BerdyHelper_getOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1701: flag=_wrap_BerdyHelper_getNrOfDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1702: flag=_wrap_BerdyHelper_getNrOfDynamicEquations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1703: flag=_wrap_BerdyHelper_getNrOfSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1704: flag=_wrap_BerdyHelper_resizeAndZeroBerdyMatrices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1705: flag=_wrap_BerdyHelper_getBerdyMatrices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1706: flag=_wrap_BerdyHelper_getSensorsOrdering(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1707: flag=_wrap_BerdyHelper_getRangeSensorVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1708: flag=_wrap_BerdyHelper_getRangeDOFSensorVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1709: flag=_wrap_BerdyHelper_getRangeJointSensorVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1710: flag=_wrap_BerdyHelper_getRangeLinkSensorVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1711: flag=_wrap_BerdyHelper_getRangeLinkVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1712: flag=_wrap_BerdyHelper_getRangeJointVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1713: flag=_wrap_BerdyHelper_getRangeDOFVariable(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1714: flag=_wrap_BerdyHelper_getDynamicVariablesOrdering(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1715: flag=_wrap_BerdyHelper_serializeDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1716: flag=_wrap_BerdyHelper_serializeSensorVariables(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1717: flag=_wrap_BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1718: flag=_wrap_BerdyHelper_extractJointTorquesFromDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1719: flag=_wrap_BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1720: flag=_wrap_BerdyHelper_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1721: flag=_wrap_BerdyHelper_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1722: flag=_wrap_BerdyHelper_updateKinematicsFromTraversalFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1723: flag=_wrap_BerdyHelper_setNetExternalWrenchMeasurementFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1724: flag=_wrap_BerdyHelper_getNetExternalWrenchMeasurementFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1725: flag=_wrap_delete_BerdyHelper(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1726: flag=_wrap_new_BerdySparseMAPSolver(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1727: flag=_wrap_delete_BerdySparseMAPSolver(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1728: flag=_wrap_BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1729: flag=_wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1730: flag=_wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1731: flag=_wrap_BerdySparseMAPSolver_setMeasurementsPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1732: flag=_wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1733: flag=_wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1734: flag=_wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1735: flag=_wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1736: flag=_wrap_BerdySparseMAPSolver_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1737: flag=_wrap_BerdySparseMAPSolver_initialize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1738: flag=_wrap_BerdySparseMAPSolver_updateEstimateInformationFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1739: flag=_wrap_BerdySparseMAPSolver_updateEstimateInformationFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1740: flag=_wrap_BerdySparseMAPSolver_doEstimate(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1741: flag=_wrap_BerdySparseMAPSolver_getLastEstimate(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1742: flag=_wrap_AttitudeEstimatorState_m_orientation_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1743: flag=_wrap_AttitudeEstimatorState_m_orientation_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1744: flag=_wrap_AttitudeEstimatorState_m_angular_velocity_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1745: flag=_wrap_AttitudeEstimatorState_m_angular_velocity_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1746: flag=_wrap_AttitudeEstimatorState_m_gyroscope_bias_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1747: flag=_wrap_AttitudeEstimatorState_m_gyroscope_bias_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1748: flag=_wrap_new_AttitudeEstimatorState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1749: flag=_wrap_delete_AttitudeEstimatorState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1750: flag=_wrap_delete_IAttitudeEstimator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1751: flag=_wrap_IAttitudeEstimator_updateFilterWithMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1752: flag=_wrap_IAttitudeEstimator_propagateStates(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1753: flag=_wrap_IAttitudeEstimator_getOrientationEstimateAsRotationMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1754: flag=_wrap_IAttitudeEstimator_getOrientationEstimateAsQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1755: flag=_wrap_IAttitudeEstimator_getOrientationEstimateAsRPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1756: flag=_wrap_IAttitudeEstimator_getInternalStateSize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1757: flag=_wrap_IAttitudeEstimator_getInternalState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1758: flag=_wrap_IAttitudeEstimator_getDefaultInternalInitialState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1759: flag=_wrap_IAttitudeEstimator_setInternalState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1760: flag=_wrap_IAttitudeEstimator_setInternalStateInitialOrientation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1761: flag=_wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1762: flag=_wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1763: flag=_wrap_AttitudeMahonyFilterParameters_kp_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1764: flag=_wrap_AttitudeMahonyFilterParameters_kp_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1765: flag=_wrap_AttitudeMahonyFilterParameters_ki_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1766: flag=_wrap_AttitudeMahonyFilterParameters_ki_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1767: flag=_wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1768: flag=_wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1769: flag=_wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1770: flag=_wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1771: flag=_wrap_new_AttitudeMahonyFilterParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1772: flag=_wrap_delete_AttitudeMahonyFilterParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1773: flag=_wrap_new_AttitudeMahonyFilter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1774: flag=_wrap_AttitudeMahonyFilter_useMagnetoMeterMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1775: flag=_wrap_AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1776: flag=_wrap_AttitudeMahonyFilter_setGainkp(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1777: flag=_wrap_AttitudeMahonyFilter_setGainki(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1778: flag=_wrap_AttitudeMahonyFilter_setTimeStepInSeconds(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1779: flag=_wrap_AttitudeMahonyFilter_setGravityDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1780: flag=_wrap_AttitudeMahonyFilter_setParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1781: flag=_wrap_AttitudeMahonyFilter_getParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1782: flag=_wrap_AttitudeMahonyFilter_updateFilterWithMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1783: flag=_wrap_AttitudeMahonyFilter_propagateStates(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1784: flag=_wrap_AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1785: flag=_wrap_AttitudeMahonyFilter_getOrientationEstimateAsQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1786: flag=_wrap_AttitudeMahonyFilter_getOrientationEstimateAsRPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1787: flag=_wrap_AttitudeMahonyFilter_getInternalStateSize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1788: flag=_wrap_AttitudeMahonyFilter_getInternalState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1789: flag=_wrap_AttitudeMahonyFilter_getDefaultInternalInitialState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1790: flag=_wrap_AttitudeMahonyFilter_setInternalState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1791: flag=_wrap_AttitudeMahonyFilter_setInternalStateInitialOrientation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1792: flag=_wrap_delete_AttitudeMahonyFilter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1793: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekf_f(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1794: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekf_h(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1795: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1796: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1797: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfPredict(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1798: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfUpdate(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1799: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfInit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1800: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfReset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1801: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1802: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1803: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInitialState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1804: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1805: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1806: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1807: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateSize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1808: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputSize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1809: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1810: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStates(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1811: flag=_wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1812: flag=_wrap_delete_DiscreteExtendedKalmanFilterHelper(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1813: flag=_wrap_output_dimensions_with_magnetometer_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1814: flag=_wrap_output_dimensions_without_magnetometer_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1815: flag=_wrap_input_dimensions_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1816: flag=_wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1817: flag=_wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1818: flag=_wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1819: flag=_wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1820: flag=_wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1821: flag=_wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1822: flag=_wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1823: flag=_wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1824: flag=_wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1825: flag=_wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1826: flag=_wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1827: flag=_wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1828: flag=_wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1829: flag=_wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1830: flag=_wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1831: flag=_wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1832: flag=_wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1833: flag=_wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1834: flag=_wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1835: flag=_wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1836: flag=_wrap_new_AttitudeQuaternionEKFParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1837: flag=_wrap_delete_AttitudeQuaternionEKFParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1838: flag=_wrap_new_AttitudeQuaternionEKF(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1839: flag=_wrap_AttitudeQuaternionEKF_getParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1840: flag=_wrap_AttitudeQuaternionEKF_setParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1841: flag=_wrap_AttitudeQuaternionEKF_setGravityDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1842: flag=_wrap_AttitudeQuaternionEKF_setTimeStepInSeconds(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1843: flag=_wrap_AttitudeQuaternionEKF_setBiasCorrelationTimeFactor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1844: flag=_wrap_AttitudeQuaternionEKF_useMagnetometerMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1845: flag=_wrap_AttitudeQuaternionEKF_setMeasurementNoiseVariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1846: flag=_wrap_AttitudeQuaternionEKF_setSystemNoiseVariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1847: flag=_wrap_AttitudeQuaternionEKF_setInitialStateCovariance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1848: flag=_wrap_AttitudeQuaternionEKF_initializeFilter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1849: flag=_wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1850: flag=_wrap_AttitudeQuaternionEKF_propagateStates(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1851: flag=_wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1852: flag=_wrap_AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1853: flag=_wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1854: flag=_wrap_AttitudeQuaternionEKF_getInternalStateSize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1855: flag=_wrap_AttitudeQuaternionEKF_getInternalState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1856: flag=_wrap_AttitudeQuaternionEKF_getDefaultInternalInitialState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1857: flag=_wrap_AttitudeQuaternionEKF_setInternalState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1858: flag=_wrap_AttitudeQuaternionEKF_setInternalStateInitialOrientation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1859: flag=_wrap_delete_AttitudeQuaternionEKF(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1860: flag=_wrap_estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1861: flag=_wrap_DynamicsRegressorParameter_category_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1862: flag=_wrap_DynamicsRegressorParameter_category_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1863: flag=_wrap_DynamicsRegressorParameter_elemIndex_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1864: flag=_wrap_DynamicsRegressorParameter_elemIndex_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1865: flag=_wrap_DynamicsRegressorParameter_type_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1866: flag=_wrap_DynamicsRegressorParameter_type_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1867: flag=_wrap_DynamicsRegressorParameter_lt(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1868: flag=_wrap_DynamicsRegressorParameter_eq(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1869: flag=_wrap_DynamicsRegressorParameter_ne(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1870: flag=_wrap_new_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1871: flag=_wrap_delete_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1872: flag=_wrap_DynamicsRegressorParametersList_parameters_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1873: flag=_wrap_DynamicsRegressorParametersList_parameters_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1874: flag=_wrap_DynamicsRegressorParametersList_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1875: flag=_wrap_DynamicsRegressorParametersList_addParam(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1876: flag=_wrap_DynamicsRegressorParametersList_addList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1877: flag=_wrap_DynamicsRegressorParametersList_findParam(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1878: flag=_wrap_DynamicsRegressorParametersList_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1879: flag=_wrap_new_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1880: flag=_wrap_delete_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1881: flag=_wrap_new_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1882: flag=_wrap_delete_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1883: flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1884: flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1885: flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1886: flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1887: flag=_wrap_DynamicsRegressorGenerator_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1888: flag=_wrap_DynamicsRegressorGenerator_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1889: flag=_wrap_DynamicsRegressorGenerator_getNrOfOutputs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1890: flag=_wrap_DynamicsRegressorGenerator_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1891: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1892: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1893: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutput(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1894: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutputs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1895: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1896: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1897: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1898: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1899: flag=_wrap_DynamicsRegressorGenerator_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1900: flag=_wrap_DynamicsRegressorGenerator_getNrOfFakeLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1901: flag=_wrap_DynamicsRegressorGenerator_getBaseLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1902: flag=_wrap_DynamicsRegressorGenerator_getSensorsModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1903: flag=_wrap_DynamicsRegressorGenerator_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1904: flag=_wrap_DynamicsRegressorGenerator_getSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1905: flag=_wrap_DynamicsRegressorGenerator_setTorqueSensorMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1906: flag=_wrap_DynamicsRegressorGenerator_computeRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1907: flag=_wrap_DynamicsRegressorGenerator_getModelParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1908: flag=_wrap_DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1909: flag=_wrap_DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1910: flag=_wrap_DynamicsRegressorGenerator_generate_random_regressors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1911: flag=_wrap_new_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1912: flag=_wrap_delete_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1913: flag=_wrap_KinDynComputations_loadRobotModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1914: flag=_wrap_KinDynComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1915: flag=_wrap_KinDynComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1916: flag=_wrap_KinDynComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1917: flag=_wrap_KinDynComputations_setFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1918: flag=_wrap_KinDynComputations_getFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1919: flag=_wrap_KinDynComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1920: flag=_wrap_KinDynComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1921: flag=_wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1922: flag=_wrap_KinDynComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1923: flag=_wrap_KinDynComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1924: flag=_wrap_KinDynComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1925: flag=_wrap_KinDynComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1926: flag=_wrap_KinDynComputations_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1927: flag=_wrap_KinDynComputations_getRobotModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1928: flag=_wrap_KinDynComputations_getRelativeJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1929: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1930: flag=_wrap_KinDynComputations_setJointPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1931: flag=_wrap_KinDynComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1932: flag=_wrap_KinDynComputations_getRobotState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1933: flag=_wrap_KinDynComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1934: flag=_wrap_KinDynComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1935: flag=_wrap_KinDynComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1936: flag=_wrap_KinDynComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1937: flag=_wrap_KinDynComputations_getModelVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1938: flag=_wrap_KinDynComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1939: flag=_wrap_KinDynComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1940: flag=_wrap_KinDynComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1941: flag=_wrap_KinDynComputations_getRelativeTransformExplicit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1942: flag=_wrap_KinDynComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1943: flag=_wrap_KinDynComputations_getFrameVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1944: flag=_wrap_KinDynComputations_getFrameAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1945: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1946: flag=_wrap_KinDynComputations_getRelativeJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1947: flag=_wrap_KinDynComputations_getRelativeJacobianExplicit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1948: flag=_wrap_KinDynComputations_getFrameBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1949: flag=_wrap_KinDynComputations_getCenterOfMassPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1950: flag=_wrap_KinDynComputations_getCenterOfMassVelocity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1951: flag=_wrap_KinDynComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1952: flag=_wrap_KinDynComputations_getCenterOfMassBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1953: flag=_wrap_KinDynComputations_getAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1954: flag=_wrap_KinDynComputations_getAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1955: flag=_wrap_KinDynComputations_getCentroidalAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1956: flag=_wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1957: flag=_wrap_KinDynComputations_getLinearAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1958: flag=_wrap_KinDynComputations_getLinearAngularMomentumJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1959: flag=_wrap_KinDynComputations_getCentroidalTotalMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1960: flag=_wrap_KinDynComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1961: flag=_wrap_KinDynComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1962: flag=_wrap_KinDynComputations_generalizedBiasForces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1963: flag=_wrap_KinDynComputations_generalizedGravityForces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1964: flag=_wrap_KinDynComputations_generalizedExternalForces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1965: flag=_wrap_KinDynComputations_inverseDynamicsInertialParametersRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1966: flag=_wrap_delete_ICamera(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1967: flag=_wrap_ICamera_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1968: flag=_wrap_ICamera_setTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1969: flag=_wrap_ICamera_setUpVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1970: flag=_wrap_ColorViz_r_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1971: flag=_wrap_ColorViz_r_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1972: flag=_wrap_ColorViz_g_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1973: flag=_wrap_ColorViz_g_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1974: flag=_wrap_ColorViz_b_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1975: flag=_wrap_ColorViz_b_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1976: flag=_wrap_ColorViz_a_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1977: flag=_wrap_ColorViz_a_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1978: flag=_wrap_new_ColorViz(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1979: flag=_wrap_delete_ColorViz(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1980: flag=_wrap_delete_ILight(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1981: flag=_wrap_ILight_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1982: flag=_wrap_ILight_setType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1983: flag=_wrap_ILight_getType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1984: flag=_wrap_ILight_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1985: flag=_wrap_ILight_getPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1986: flag=_wrap_ILight_setDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1987: flag=_wrap_ILight_getDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1988: flag=_wrap_ILight_setAmbientColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1989: flag=_wrap_ILight_getAmbientColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1990: flag=_wrap_ILight_setSpecularColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1991: flag=_wrap_ILight_getSpecularColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1992: flag=_wrap_ILight_setDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1993: flag=_wrap_ILight_getDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1994: flag=_wrap_delete_IEnvironment(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1995: flag=_wrap_IEnvironment_getElements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1996: flag=_wrap_IEnvironment_setElementVisibility(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1997: flag=_wrap_IEnvironment_setBackgroundColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1998: flag=_wrap_IEnvironment_setAmbientLight(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1999: flag=_wrap_IEnvironment_getLights(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2000: flag=_wrap_IEnvironment_addLight(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2001: flag=_wrap_IEnvironment_lightViz(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2002: flag=_wrap_IEnvironment_removeLight(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2003: flag=_wrap_delete_IJetsVisualization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2004: flag=_wrap_IJetsVisualization_setJetsFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2005: flag=_wrap_IJetsVisualization_getNrOfJets(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2006: flag=_wrap_IJetsVisualization_getJetDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2007: flag=_wrap_IJetsVisualization_setJetDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2008: flag=_wrap_IJetsVisualization_setJetColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2009: flag=_wrap_IJetsVisualization_setJetsDimensions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2010: flag=_wrap_IJetsVisualization_setJetsIntensity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2011: flag=_wrap_delete_IVectorsVisualization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2012: flag=_wrap_IVectorsVisualization_addVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2013: flag=_wrap_IVectorsVisualization_getNrOfVectors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2014: flag=_wrap_IVectorsVisualization_getVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2015: flag=_wrap_IVectorsVisualization_updateVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2016: flag=_wrap_IVectorsVisualization_setVectorColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2017: flag=_wrap_IVectorsVisualization_setVectorsAspect(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2018: flag=_wrap_delete_IModelVisualization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2019: flag=_wrap_IModelVisualization_setPositions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2020: flag=_wrap_IModelVisualization_setLinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2021: flag=_wrap_IModelVisualization_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2022: flag=_wrap_IModelVisualization_getInstanceName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2023: flag=_wrap_IModelVisualization_setModelVisibility(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2024: flag=_wrap_IModelVisualization_setModelColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2025: flag=_wrap_IModelVisualization_resetModelColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2026: flag=_wrap_IModelVisualization_setLinkColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2027: flag=_wrap_IModelVisualization_resetLinkColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2028: flag=_wrap_IModelVisualization_getLinkNames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2029: flag=_wrap_IModelVisualization_setLinkVisibility(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2030: flag=_wrap_IModelVisualization_getFeatures(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2031: flag=_wrap_IModelVisualization_setFeatureVisibility(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2032: flag=_wrap_IModelVisualization_jets(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2033: flag=_wrap_IModelVisualization_getWorldModelTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2034: flag=_wrap_IModelVisualization_getWorldLinkTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2035: flag=_wrap_VisualizerOptions_verbose_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2036: flag=_wrap_VisualizerOptions_verbose_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2037: flag=_wrap_VisualizerOptions_winWidth_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2038: flag=_wrap_VisualizerOptions_winWidth_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2039: flag=_wrap_VisualizerOptions_winHeight_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2040: flag=_wrap_VisualizerOptions_winHeight_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2041: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2042: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2043: flag=_wrap_new_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2044: flag=_wrap_delete_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2045: flag=_wrap_new_Visualizer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2046: flag=_wrap_delete_Visualizer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2047: flag=_wrap_Visualizer_init(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2048: flag=_wrap_Visualizer_getNrOfVisualizedModels(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2049: flag=_wrap_Visualizer_getModelInstanceName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2050: flag=_wrap_Visualizer_getModelInstanceIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2051: flag=_wrap_Visualizer_addModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2052: flag=_wrap_Visualizer_modelViz(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2053: flag=_wrap_Visualizer_camera(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2054: flag=_wrap_Visualizer_enviroment(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2055: flag=_wrap_Visualizer_vectors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2056: flag=_wrap_Visualizer_run(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2057: flag=_wrap_Visualizer_draw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2058: flag=_wrap_Visualizer_drawToFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2059: flag=_wrap_Visualizer_close(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2060: flag=_wrap_Polygon_m_vertices_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2061: flag=_wrap_Polygon_m_vertices_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2062: flag=_wrap_new_Polygon(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2063: flag=_wrap_Polygon_setNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2064: flag=_wrap_Polygon_getNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2065: flag=_wrap_Polygon_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2066: flag=_wrap_Polygon_applyTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2067: flag=_wrap_Polygon_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2068: flag=_wrap_Polygon_XYRectangleFromOffsets(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2069: flag=_wrap_delete_Polygon(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2070: flag=_wrap_Polygon2D_m_vertices_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2071: flag=_wrap_Polygon2D_m_vertices_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2072: flag=_wrap_new_Polygon2D(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2073: flag=_wrap_Polygon2D_setNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2074: flag=_wrap_Polygon2D_getNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2075: flag=_wrap_Polygon2D_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2076: flag=_wrap_Polygon2D_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2077: flag=_wrap_delete_Polygon2D(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2078: flag=_wrap_ConvexHullProjectionConstraint_setActive(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2079: flag=_wrap_ConvexHullProjectionConstraint_isActive(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2080: flag=_wrap_ConvexHullProjectionConstraint_getNrOfConstraints(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2081: flag=_wrap_ConvexHullProjectionConstraint_projectedConvexHull_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2082: flag=_wrap_ConvexHullProjectionConstraint_projectedConvexHull_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2083: flag=_wrap_ConvexHullProjectionConstraint_A_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2084: flag=_wrap_ConvexHullProjectionConstraint_A_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2085: flag=_wrap_ConvexHullProjectionConstraint_b_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2086: flag=_wrap_ConvexHullProjectionConstraint_b_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2087: flag=_wrap_ConvexHullProjectionConstraint_P_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2088: flag=_wrap_ConvexHullProjectionConstraint_P_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2089: flag=_wrap_ConvexHullProjectionConstraint_Pdirection_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2090: flag=_wrap_ConvexHullProjectionConstraint_Pdirection_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2091: flag=_wrap_ConvexHullProjectionConstraint_AtimesP_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2092: flag=_wrap_ConvexHullProjectionConstraint_AtimesP_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2093: flag=_wrap_ConvexHullProjectionConstraint_o_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2094: flag=_wrap_ConvexHullProjectionConstraint_o_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2095: flag=_wrap_ConvexHullProjectionConstraint_buildConvexHull(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2096: flag=_wrap_ConvexHullProjectionConstraint_supportFrameIndices_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2097: flag=_wrap_ConvexHullProjectionConstraint_supportFrameIndices_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2098: flag=_wrap_ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2099: flag=_wrap_ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2100: flag=_wrap_ConvexHullProjectionConstraint_project(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2101: flag=_wrap_ConvexHullProjectionConstraint_computeMargin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2102: flag=_wrap_ConvexHullProjectionConstraint_setProjectionAlongDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2103: flag=_wrap_ConvexHullProjectionConstraint_projectAlongDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2104: flag=_wrap_new_ConvexHullProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2105: flag=_wrap_delete_ConvexHullProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2106: flag=_wrap_sizeOfRotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2107: flag=_wrap_new_InverseKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2108: flag=_wrap_delete_InverseKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2109: flag=_wrap_InverseKinematics_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2110: flag=_wrap_InverseKinematics_setModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2111: flag=_wrap_InverseKinematics_setJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2112: flag=_wrap_InverseKinematics_getJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2113: flag=_wrap_InverseKinematics_clearProblem(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2114: flag=_wrap_InverseKinematics_setFloatingBaseOnFrameNamed(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2115: flag=_wrap_InverseKinematics_setRobotConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2116: flag=_wrap_InverseKinematics_setCurrentRobotConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2117: flag=_wrap_InverseKinematics_setJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2118: flag=_wrap_InverseKinematics_setRotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2119: flag=_wrap_InverseKinematics_rotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2120: flag=_wrap_InverseKinematics_setMaxIterations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2121: flag=_wrap_InverseKinematics_maxIterations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2122: flag=_wrap_InverseKinematics_setMaxCPUTime(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2123: flag=_wrap_InverseKinematics_maxCPUTime(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2124: flag=_wrap_InverseKinematics_setCostTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2125: flag=_wrap_InverseKinematics_costTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2126: flag=_wrap_InverseKinematics_setConstraintsTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2127: flag=_wrap_InverseKinematics_constraintsTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2128: flag=_wrap_InverseKinematics_setVerbosity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2129: flag=_wrap_InverseKinematics_linearSolverName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2130: flag=_wrap_InverseKinematics_setLinearSolverName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2131: flag=_wrap_InverseKinematics_addFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2132: flag=_wrap_InverseKinematics_addFramePositionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2133: flag=_wrap_InverseKinematics_addFrameRotationConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2134: flag=_wrap_InverseKinematics_activateFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2135: flag=_wrap_InverseKinematics_deactivateFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2136: flag=_wrap_InverseKinematics_isFrameConstraintActive(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2137: flag=_wrap_InverseKinematics_addCenterOfMassProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2138: flag=_wrap_InverseKinematics_getCenterOfMassProjectionMargin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2139: flag=_wrap_InverseKinematics_getCenterOfMassProjectConstraintConvexHull(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2140: flag=_wrap_InverseKinematics_addTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2141: flag=_wrap_InverseKinematics_addPositionTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2142: flag=_wrap_InverseKinematics_addRotationTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2143: flag=_wrap_InverseKinematics_updateTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2144: flag=_wrap_InverseKinematics_updatePositionTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2145: flag=_wrap_InverseKinematics_updateRotationTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2146: flag=_wrap_InverseKinematics_setDefaultTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2147: flag=_wrap_InverseKinematics_defaultTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2148: flag=_wrap_InverseKinematics_setTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2149: flag=_wrap_InverseKinematics_targetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2150: flag=_wrap_InverseKinematics_setDesiredJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2151: flag=_wrap_InverseKinematics_setDesiredFullJointsConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2152: flag=_wrap_InverseKinematics_setDesiredReducedJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2153: flag=_wrap_InverseKinematics_setInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2154: flag=_wrap_InverseKinematics_setFullJointsInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2155: flag=_wrap_InverseKinematics_setReducedInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2156: flag=_wrap_InverseKinematics_solve(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2157: flag=_wrap_InverseKinematics_getSolution(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2158: flag=_wrap_InverseKinematics_getFullJointsSolution(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2159: flag=_wrap_InverseKinematics_getReducedSolution(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2160: flag=_wrap_InverseKinematics_getPoseForFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2161: flag=_wrap_InverseKinematics_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2162: flag=_wrap_InverseKinematics_fullModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2163: flag=_wrap_InverseKinematics_reducedModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2164: flag=_wrap_InverseKinematics_setCOMTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2165: flag=_wrap_InverseKinematics_setCOMAsConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2166: flag=_wrap_InverseKinematics_setCOMAsConstraintTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2167: flag=_wrap_InverseKinematics_isCOMAConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2168: flag=_wrap_InverseKinematics_isCOMTargetActive(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2169: flag=_wrap_InverseKinematics_deactivateCOMTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2170: flag=_wrap_InverseKinematics_setCOMConstraintProjectionDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2171: flag=_wrap_new_DynamicsComputations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2172: flag=_wrap_delete_DynamicsComputations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2173: flag=_wrap_DynamicsComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2174: flag=_wrap_DynamicsComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2175: flag=_wrap_DynamicsComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2176: flag=_wrap_DynamicsComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2177: flag=_wrap_DynamicsComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2178: flag=_wrap_DynamicsComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2179: flag=_wrap_DynamicsComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2180: flag=_wrap_DynamicsComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2181: flag=_wrap_DynamicsComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2182: flag=_wrap_DynamicsComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2183: flag=_wrap_DynamicsComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2184: flag=_wrap_DynamicsComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2185: flag=_wrap_DynamicsComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2186: flag=_wrap_DynamicsComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2187: flag=_wrap_DynamicsComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2188: flag=_wrap_DynamicsComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2189: flag=_wrap_DynamicsComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2190: flag=_wrap_DynamicsComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2191: flag=_wrap_DynamicsComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2192: flag=_wrap_DynamicsComputations_getFrameTwist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2193: flag=_wrap_DynamicsComputations_getFrameTwistInWorldOrient(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2194: flag=_wrap_DynamicsComputations_getFrameProperSpatialAcceleration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2195: flag=_wrap_DynamicsComputations_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2196: flag=_wrap_DynamicsComputations_getLinkInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2197: flag=_wrap_DynamicsComputations_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2198: flag=_wrap_DynamicsComputations_getJointName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2199: flag=_wrap_DynamicsComputations_getJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2200: flag=_wrap_DynamicsComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2201: flag=_wrap_DynamicsComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2202: flag=_wrap_DynamicsComputations_getFrameJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2203: flag=_wrap_DynamicsComputations_getDynamicsRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2204: flag=_wrap_DynamicsComputations_getModelDynamicsParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2205: flag=_wrap_DynamicsComputations_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 2206: flag=_wrap_DynamicsComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break;
   default: flag=1, SWIG_Error(SWIG_RuntimeError, "No function id %d.", fcn_id);
   }
   if (flag) {