Add MatrixView and Span in InverseKinematics

CHANGELOG.md

@@ -5,6 +5,12 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [Unreleased]
+
+### Added
+- Add the possibility to use `MatrixView` and `Span` as input/output objects for `InverseKinematics` class (https://github.com/robotology/idyntree/pull/822).
+### Changed
+
 ## [3.0.0] - 2020-02-03
 
 ### Added

src/high-level/src/KinDynComputations.cpp

@@ -934,9 +934,7 @@ void KinDynComputations::getRobotState(iDynTree::VectorDynSize &s,
                                        iDynTree::VectorDynSize &s_dot,
                                        iDynTree::Vector3& world_gravity)
 {
-    world_gravity = pimpl->m_gravityAcc;
-    toEigen(s) = toEigen(this->pimpl->m_pos.jointPos());
-    toEigen(s_dot) = toEigen(pimpl->m_vel.jointVel());
+    this->getRobotState(make_span(s), make_span(s_dot), make_span(world_gravity));
 }
 
 void KinDynComputations::getRobotState(iDynTree::Span<double> s,

src/inverse-kinematics/include/private/InverseKinematicsData.h

@@ -68,7 +68,7 @@ class internal::kinematics::InverseKinematicsData {
         InverseKinematicsInitialConditionPartial,
         InverseKinematicsInitialConditionFull
     };
-    
+
 public:
     /*! @name Model-related variables
      */
@@ -115,14 +115,14 @@ class internal::kinematics::InverseKinematicsData {
     iDynTree::Direction m_comHullConstraint_xAxisOfPlaneInWorld;
     iDynTree::Direction m_comHullConstraint_yAxisOfPlaneInWorld;
     iDynTree::Position m_comHullConstraint_originOfPlaneInWorld;
-    
+
     //Preferred joints configuration for the optimization
     //Size: getNrOfDOFs of the considered model
     iDynTree::VectorDynSize m_preferredJointsConfiguration;
     iDynTree::VectorDynSize m_preferredJointsWeight;
 
     bool m_areBaseInitialConditionsSet; /*!< True if initial condition for the base pose are provided by the user */
-    
+
     InverseKinematicsInitialConditionType m_areJointsInitialConditionsSet; /*!< specify if the initial condition for the joints are provided by the user */
 
     //These variables containts the initial condition
@@ -325,10 +325,10 @@ class internal::kinematics::InverseKinematicsData {
      */
     iDynTree::KinDynComputations& dynamics();
 
-    void setCoMTarget(iDynTree::Position& desiredPosition, double weight);
-    
+    void setCoMTarget(const iDynTree::Position& desiredPosition, double weight);
+
     void setCoMasConstraint(bool asConstraint);
-    
+
     bool isCoMaConstraint();
 
     void setCoMasConstraintTolerance(double TOL);