capitalize class and file names

ami-iit · Sep 24, 2024 · 7f2fe11 · 7f2fe11
1 parent 8bf5fe2
commit 7f2fe11
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diff --git a/bindings/python/ML/CMakeLists.txt b/bindings/python/ML/CMakeLists.txt
@@ -8,14 +8,14 @@ if(TARGET BipedalLocomotion::ML)
 
   add_bipedal_locomotion_python_module(
     NAME MLBindings
-    SOURCES src/Module.cpp src/MANN.cpp src/velMANN.cpp
-            src/MANNAutoregressive.cpp src/velMANNAutoregressive.cpp
-            src/MANNTrajectoryGenerator.cpp src/velMANNTrajectoryGenerator.cpp
-            src/MANNAutoregressiveInputBuilder.cpp src/velMANNAutoregressiveInputBuilder.cpp
-    HEADERS ${H_PREFIX}/Module.h ${H_PREFIX}/MANN.h ${H_PREFIX}/velMANN.h
-            ${H_PREFIX}/MANNAutoregressive.h ${H_PREFIX}/velMANNAutoregressive.h
-            ${H_PREFIX}/MANNTrajectoryGenerator.h ${H_PREFIX}/velMANNTrajectoryGenerator.h
-            ${H_PREFIX}/MANNAutoregressiveInputBuilder.h ${H_PREFIX}/velMANNAutoregressiveInputBuilder.h
+    SOURCES src/Module.cpp src/MANN.cpp src/VelMANN.cpp
+            src/MANNAutoregressive.cpp src/VelMANNAutoregressive.cpp
+            src/MANNTrajectoryGenerator.cpp src/VelMANNTrajectoryGenerator.cpp
+            src/MANNAutoregressiveInputBuilder.cpp src/VelMANNAutoregressiveInputBuilder.cpp
+    HEADERS ${H_PREFIX}/Module.h ${H_PREFIX}/MANN.h ${H_PREFIX}/VelMANN.h
+            ${H_PREFIX}/MANNAutoregressive.h ${H_PREFIX}/VelMANNAutoregressive.h
+            ${H_PREFIX}/MANNTrajectoryGenerator.h ${H_PREFIX}/VelMANNTrajectoryGenerator.h
+            ${H_PREFIX}/MANNAutoregressiveInputBuilder.h ${H_PREFIX}/VelMANNAutoregressiveInputBuilder.h
     LINK_LIBRARIES BipedalLocomotion::ML
     )
 

diff --git a/...e/BipedalLocomotion/bindings/ML/velMANN.h → ...e/BipedalLocomotion/bindings/ML/VelMANN.h b/...e/BipedalLocomotion/bindings/ML/velMANN.h → ...e/BipedalLocomotion/bindings/ML/VelMANN.h
@@ -1,5 +1,5 @@
 /**
- * @file velMANN.h
+ * @file VelMANN.h
  * @authors Evelyn D'Elia
  * @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.

diff --git a/...otion/bindings/ML/velMANNAutoregressive.h → ...otion/bindings/ML/VelMANNAutoregressive.h b/...otion/bindings/ML/velMANNAutoregressive.h → ...otion/bindings/ML/VelMANNAutoregressive.h
@@ -1,5 +1,5 @@
 /**
- * @file velMANNAutoregressive.h
+ * @file VelMANNAutoregressive.h
  * @authors Evelyn D'Elia
  * @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.

diff --git a/...gs/ML/velMANNAutoregressiveInputBuilder.h → ...gs/ML/VelMANNAutoregressiveInputBuilder.h b/...gs/ML/velMANNAutoregressiveInputBuilder.h → ...gs/ML/VelMANNAutoregressiveInputBuilder.h
@@ -1,5 +1,5 @@
 /*
- * @file velMANNAutoregressiveInputBuilder.h
+ * @file VelMANNAutoregressiveInputBuilder.h
  * @authors Evelyn D'Elia
  * @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.

diff --git a/.../bindings/ML/velMANNTrajectoryGenerator.h → .../bindings/ML/VelMANNTrajectoryGenerator.h b/.../bindings/ML/velMANNTrajectoryGenerator.h → .../bindings/ML/VelMANNTrajectoryGenerator.h
@@ -1,5 +1,5 @@
 /*
- * @file velMANNTrajectoryGenerator.h
+ * @file VelMANNTrajectoryGenerator.h
  * @authors Evelyn D'Elia
  * @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.

diff --git a/bindings/python/ML/src/Module.cpp b/bindings/python/ML/src/Module.cpp
@@ -11,10 +11,10 @@
 #include <BipedalLocomotion/bindings/ML/MANNAutoregressive.h>
 #include <BipedalLocomotion/bindings/ML/MANNTrajectoryGenerator.h>
 #include <BipedalLocomotion/bindings/ML/MANNAutoregressiveInputBuilder.h>
-#include <BipedalLocomotion/bindings/ML/velMANN.h>
-#include <BipedalLocomotion/bindings/ML/velMANNAutoregressive.h>
-#include <BipedalLocomotion/bindings/ML/velMANNTrajectoryGenerator.h>
-#include <BipedalLocomotion/bindings/ML/velMANNAutoregressiveInputBuilder.h>
+#include <BipedalLocomotion/bindings/ML/VelMANN.h>
+#include <BipedalLocomotion/bindings/ML/VelMANNAutoregressive.h>
+#include <BipedalLocomotion/bindings/ML/VelMANNTrajectoryGenerator.h>
+#include <BipedalLocomotion/bindings/ML/VelMANNAutoregressiveInputBuilder.h>
 
 
 namespace BipedalLocomotion

diff --git a/bindings/python/ML/src/velMANN.cpp → bindings/python/ML/src/VelMANN.cpp b/bindings/python/ML/src/velMANN.cpp → bindings/python/ML/src/VelMANN.cpp
@@ -1,5 +1,5 @@
 /**
- * @file velMANN.cpp
+ * @file VelMANN.cpp
  * @authors Evelyn D'Elia
  * @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
@@ -9,9 +9,9 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include <BipedalLocomotion/ML/velMANN.h>
+#include <BipedalLocomotion/ML/VelMANN.h>
 
-#include <BipedalLocomotion/bindings/ML/velMANN.h>
+#include <BipedalLocomotion/bindings/ML/VelMANN.h>
 #include <BipedalLocomotion/bindings/System/Advanceable.h>
 
 namespace BipedalLocomotion
@@ -27,25 +27,25 @@ void CreateVelMANN(pybind11::module& module)
     namespace ML = BipedalLocomotion::ML;
     namespace System = BipedalLocomotion::System;
 
-    py::class_<ML::velMANNInput>(module, "velMANNInput")
+    py::class_<ML::VelMANNInput>(module, "VelMANNInput")
         .def(py::init())
-        .def_readwrite("base_linear_velocity_trajectory", &ML::velMANNInput::baseLinearVelocityTrajectory)
-        .def_readwrite("base_angular_velocity_trajectory", &ML::velMANNInput::baseAngularVelocityTrajectory)
-        .def_readwrite("joint_positions", &ML::velMANNInput::jointPositions)
-        .def_readwrite("joint_velocities", &ML::velMANNInput::jointVelocities);
+        .def_readwrite("base_linear_velocity_trajectory", &ML::VelMANNInput::baseLinearVelocityTrajectory)
+        .def_readwrite("base_angular_velocity_trajectory", &ML::VelMANNInput::baseAngularVelocityTrajectory)
+        .def_readwrite("joint_positions", &ML::VelMANNInput::jointPositions)
+        .def_readwrite("joint_velocities", &ML::VelMANNInput::jointVelocities);
 
-    py::class_<ML::velMANNOutput>(module, "velMANNOutput")
+    py::class_<ML::VelMANNOutput>(module, "VelMANNOutput")
         .def(py::init())
         .def_readwrite("future_base_linear_velocity_trajectory",
-                       &ML::velMANNOutput::futureBaseLinearVelocityTrajectory)
+                       &ML::VelMANNOutput::futureBaseLinearVelocityTrajectory)
         .def_readwrite("future_base_angular_velocity_trajectory",
-                       &ML::velMANNOutput::futureBaseAngularVelocityTrajectory)
-        .def_readwrite("joint_positions", &ML::velMANNOutput::jointPositions)
-        .def_readwrite("joint_velocities", &ML::velMANNOutput::jointVelocities);
+                       &ML::VelMANNOutput::futureBaseAngularVelocityTrajectory)
+        .def_readwrite("joint_positions", &ML::VelMANNOutput::jointPositions)
+        .def_readwrite("joint_velocities", &ML::VelMANNOutput::jointVelocities);
 
-    BipedalLocomotion::bindings::System::CreateAdvanceable<ML::velMANNInput, //
-                                                           ML::velMANNOutput>(module, "velMANN");
-    py::class_<ML::velMANN, System::Advanceable<ML::velMANNInput, ML::velMANNOutput>>(module, "velMANN")
+    BipedalLocomotion::bindings::System::CreateAdvanceable<ML::VelMANNInput, //
+                                                           ML::VelMANNOutput>(module, "VelMANN");
+    py::class_<ML::VelMANN, System::Advanceable<ML::VelMANNInput, ML::VelMANNOutput>>(module, "VelMANN")
         .def(py::init());
 }
 

diff --git a/...s/python/ML/src/velMANNAutoregressive.cpp → ...s/python/ML/src/VelMANNAutoregressive.cpp b/...s/python/ML/src/velMANNAutoregressive.cpp → ...s/python/ML/src/VelMANNAutoregressive.cpp
@@ -1,5 +1,5 @@
 /**
- * @file velMANNAutoregressive.cpp
+ * @file VelMANNAutoregressive.cpp
  * @authors Evelyn D'Elia
  * @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
@@ -10,8 +10,8 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include <BipedalLocomotion/ML/velMANNAutoregressive.h>
-#include <BipedalLocomotion/bindings/ML/velMANNAutoregressive.h>
+#include <BipedalLocomotion/ML/VelMANNAutoregressive.h>
+#include <BipedalLocomotion/bindings/ML/VelMANNAutoregressive.h>
 #include <BipedalLocomotion/bindings/System/Advanceable.h>
 #include <BipedalLocomotion/bindings/type_caster/swig.h>
 
@@ -28,43 +28,43 @@ void CreateVelMANNAutoregressive(pybind11::module& module)
     namespace ML = BipedalLocomotion::ML;
     namespace System = BipedalLocomotion::System;
 
-    py::class_<ML::velMANNAutoregressiveInput>(module, "velMANNAutoregressiveInput")
+    py::class_<ML::VelMANNAutoregressiveInput>(module, "VelMANNAutoregressiveInput")
         .def(py::init())
         .def_readwrite("desired_future_base_trajectory",
-                       &ML::velMANNAutoregressiveInput::desiredFutureBaseTrajectory)
+                       &ML::VelMANNAutoregressiveInput::desiredFutureBaseTrajectory)
         .def_readwrite("desired_future_base_directions",
-                       &ML::velMANNAutoregressiveInput::desiredFutureBaseDirections)
+                       &ML::VelMANNAutoregressiveInput::desiredFutureBaseDirections)
         .def_readwrite("desired_future_base_velocities",
-                       &ML::velMANNAutoregressiveInput::desiredFutureBaseVelocities)
+                       &ML::VelMANNAutoregressiveInput::desiredFutureBaseVelocities)
         .def_readwrite("desired_future_base_angular_velocities",
-                       &ML::velMANNAutoregressiveInput::desiredFutureBaseAngVelocities);
+                       &ML::VelMANNAutoregressiveInput::desiredFutureBaseAngVelocities);
 
-    py::class_<ML::velMANNAutoregressiveOutput>(module, "velMANNAutoregressiveOutput")
+    py::class_<ML::VelMANNAutoregressiveOutput>(module, "VelMANNAutoregressiveOutput")
         .def(py::init())
-        .def_readwrite("joint_positions", &ML::velMANNAutoregressiveOutput::jointsPosition)
-        .def_readwrite("joint_velocities", &ML::velMANNAutoregressiveOutput::jointsVelocity)
-        .def_readwrite("base_pose", &ML::velMANNAutoregressiveOutput::basePose)
-        .def_readwrite("base_velocity", &ML::velMANNAutoregressiveOutput::baseVelocity)
-        .def_readwrite("left_foot_pose", &ML::velMANNAutoregressiveOutput::leftFootPose)
-        .def_readwrite("right_foot_pose", &ML::velMANNAutoregressiveOutput::rightFootPose)
-        .def_readwrite("left_foot_velocity", &ML::velMANNAutoregressiveOutput::leftFootVelocity)
-        .def_readwrite("right_foot_velocity", &ML::velMANNAutoregressiveOutput::rightFootVelocity)
-        .def_readwrite("left_foot", &ML::velMANNAutoregressiveOutput::leftFoot)
-        .def_readwrite("right_foot", &ML::velMANNAutoregressiveOutput::rightFoot);
+        .def_readwrite("joint_positions", &ML::VelMANNAutoregressiveOutput::jointsPosition)
+        .def_readwrite("joint_velocities", &ML::VelMANNAutoregressiveOutput::jointsVelocity)
+        .def_readwrite("base_pose", &ML::VelMANNAutoregressiveOutput::basePose)
+        .def_readwrite("base_velocity", &ML::VelMANNAutoregressiveOutput::baseVelocity)
+        .def_readwrite("left_foot_pose", &ML::VelMANNAutoregressiveOutput::leftFootPose)
+        .def_readwrite("right_foot_pose", &ML::VelMANNAutoregressiveOutput::rightFootPose)
+        .def_readwrite("left_foot_velocity", &ML::VelMANNAutoregressiveOutput::leftFootVelocity)
+        .def_readwrite("right_foot_velocity", &ML::VelMANNAutoregressiveOutput::rightFootVelocity)
+        .def_readwrite("left_foot", &ML::VelMANNAutoregressiveOutput::leftFoot)
+        .def_readwrite("right_foot", &ML::VelMANNAutoregressiveOutput::rightFoot);
 
-    BipedalLocomotion::bindings::System::CreateAdvanceable<ML::velMANNAutoregressiveInput, //
-                                                           ML::velMANNAutoregressiveOutput> //
-        (module, "velMANNAutoregressive");
-    py::class_<ML::velMANNAutoregressive,
-               System::Advanceable<ML::velMANNAutoregressiveInput, //
-                                   ML::velMANNAutoregressiveOutput>>(module, "velMANNAutoregressive")
+    BipedalLocomotion::bindings::System::CreateAdvanceable<ML::VelMANNAutoregressiveInput, //
+                                                           ML::VelMANNAutoregressiveOutput> //
+        (module, "VelMANNAutoregressive");
+    py::class_<ML::VelMANNAutoregressive,
+               System::Advanceable<ML::VelMANNAutoregressiveInput, //
+                                   ML::VelMANNAutoregressiveOutput>>(module, "VelMANNAutoregressive")
         .def(py::init())
         .def("reset",
              py::overload_cast<Eigen::Ref<const Eigen::VectorXd>, const manif::SE3d&>(
-                 &ML::velMANNAutoregressive::reset),
+                 &ML::VelMANNAutoregressive::reset),
              py::arg("joint_positions"),
              py::arg("base_pose"))
-        .def("set_robot_model", [](ML::velMANNAutoregressive& impl, ::pybind11::object& obj) {
+        .def("set_robot_model", [](ML::VelMANNAutoregressive& impl, ::pybind11::object& obj) {
             iDynTree::Model* cls = py::detail::swig_wrapped_pointer_to_pybind<iDynTree::Model>(obj);
 
             if (cls == nullptr)

diff --git a/...src/velMANNAutoregressiveInputBuilder.cpp → ...src/VelMANNAutoregressiveInputBuilder.cpp b/...src/velMANNAutoregressiveInputBuilder.cpp → ...src/VelMANNAutoregressiveInputBuilder.cpp
@@ -1,5 +1,5 @@
 /**
- * @file velMANNAutoregressiveInputBuilder.cpp
+ * @file VelMANNAutoregressiveInputBuilder.cpp
  * @authors Evelyn D'Elia
  * @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
@@ -11,8 +11,8 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include <BipedalLocomotion/ML/velMANNAutoregressiveInputBuilder.h>
-#include <BipedalLocomotion/bindings/ML/velMANNAutoregressiveInputBuilder.h>
+#include <BipedalLocomotion/ML/VelMANNAutoregressiveInputBuilder.h>
+#include <BipedalLocomotion/bindings/ML/VelMANNAutoregressiveInputBuilder.h>
 #include <BipedalLocomotion/bindings/System/Advanceable.h>
 #include <BipedalLocomotion/bindings/type_caster/swig.h>
 
@@ -29,18 +29,18 @@ void CreateVelMANNAutoregressiveInputBuilder(pybind11::module& module)
     namespace ML = BipedalLocomotion::ML;
     namespace System = BipedalLocomotion::System;
 
-    py::class_<ML::velMANNDirectionalInput>(module, "velMANNDirectionalInput")
+    py::class_<ML::VelMANNDirectionalInput>(module, "VelMANNDirectionalInput")
         .def(py::init())
-        .def_readwrite("motion_direction", &ML::velMANNDirectionalInput::motionDirection)
-        .def_readwrite("base_direction", &ML::velMANNDirectionalInput::baseDirection);
+        .def_readwrite("motion_direction", &ML::VelMANNDirectionalInput::motionDirection)
+        .def_readwrite("base_direction", &ML::VelMANNDirectionalInput::baseDirection);
 
-    BipedalLocomotion::bindings::System::CreateAdvanceable<ML::velMANNDirectionalInput, //
-                                                           ML::velMANNAutoregressiveInput> //
-        (module, "velMANNAutoregressiveInputBuilder");
-    py::class_<ML::velMANNAutoregressiveInputBuilder,
-               System::Advanceable<ML::velMANNDirectionalInput, //
-                                   ML::velMANNAutoregressiveInput>>(module,
-                                                                 "velMANNAutoregressiveInputBuilder")
+    BipedalLocomotion::bindings::System::CreateAdvanceable<ML::VelMANNDirectionalInput, //
+                                                           ML::VelMANNAutoregressiveInput> //
+        (module, "VelMANNAutoregressiveInputBuilder");
+    py::class_<ML::VelMANNAutoregressiveInputBuilder,
+               System::Advanceable<ML::VelMANNDirectionalInput, //
+                                   ML::VelMANNAutoregressiveInput>>(module,
+                                                                 "VelMANNAutoregressiveInputBuilder")
         .def(py::init());
 }
 

diff --git a/...hon/ML/src/velMANNTrajectoryGenerator.cpp → ...hon/ML/src/VelMANNTrajectoryGenerator.cpp b/...hon/ML/src/velMANNTrajectoryGenerator.cpp → ...hon/ML/src/VelMANNTrajectoryGenerator.cpp
@@ -1,5 +1,5 @@
 /**
- * @file velMANNTrajectoryGenerator.cpp
+ * @file VelMANNTrajectoryGenerator.cpp
  * @authors Evelyn D'Elia
  * @copyright 2024 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
@@ -11,8 +11,8 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include <BipedalLocomotion/ML/velMANNTrajectoryGenerator.h>
-#include <BipedalLocomotion/bindings/ML/velMANNTrajectoryGenerator.h>
+#include <BipedalLocomotion/ML/VelMANNTrajectoryGenerator.h>
+#include <BipedalLocomotion/bindings/ML/VelMANNTrajectoryGenerator.h>
 #include <BipedalLocomotion/bindings/System/Advanceable.h>
 #include <BipedalLocomotion/bindings/type_caster/swig.h>
 
@@ -29,35 +29,35 @@ void CreateVelMANNTrajectoryGenerator(pybind11::module& module)
     namespace ML = BipedalLocomotion::ML;
     namespace System = BipedalLocomotion::System;
 
-    py::class_<ML::velMANNTrajectoryGeneratorInput, ML::velMANNAutoregressiveInput>(module,
-                                                                              "velMANNTrajectoryGenera"
+    py::class_<ML::VelMANNTrajectoryGeneratorInput, ML::VelMANNAutoregressiveInput>(module,
+                                                                              "VelMANNTrajectoryGenera"
                                                                               "torInput")
         .def(py::init())
-        .def_readwrite("merge_point_index", &ML::velMANNTrajectoryGeneratorInput::mergePointIndex);
+        .def_readwrite("merge_point_index", &ML::VelMANNTrajectoryGeneratorInput::mergePointIndex);
 
-    py::class_<ML::velMANNTrajectoryGeneratorOutput>(module, "velMANNTrajectoryGeneratorOutput")
+    py::class_<ML::VelMANNTrajectoryGeneratorOutput>(module, "VelMANNTrajectoryGeneratorOutput")
         .def(py::init())
-        .def_readwrite("timestamps", &ML::velMANNTrajectoryGeneratorOutput::timestamps)
-        .def_readwrite("joint_positions", &ML::velMANNTrajectoryGeneratorOutput::jointPositions)
-        .def_readwrite("base_poses", &ML::velMANNTrajectoryGeneratorOutput::basePoses)
-        .def_readwrite("phase_list", &ML::velMANNTrajectoryGeneratorOutput::phaseList)
-        .def_readwrite("com_trajectory", &ML::velMANNTrajectoryGeneratorOutput::comTrajectory)
+        .def_readwrite("timestamps", &ML::VelMANNTrajectoryGeneratorOutput::timestamps)
+        .def_readwrite("joint_positions", &ML::VelMANNTrajectoryGeneratorOutput::jointPositions)
+        .def_readwrite("base_poses", &ML::VelMANNTrajectoryGeneratorOutput::basePoses)
+        .def_readwrite("phase_list", &ML::VelMANNTrajectoryGeneratorOutput::phaseList)
+        .def_readwrite("com_trajectory", &ML::VelMANNTrajectoryGeneratorOutput::comTrajectory)
         .def_readwrite("angular_momentum_trajectory",
-                       &ML::velMANNTrajectoryGeneratorOutput::angularMomentumTrajectory);
+                       &ML::VelMANNTrajectoryGeneratorOutput::angularMomentumTrajectory);
 
-    BipedalLocomotion::bindings::System::CreateAdvanceable<ML::velMANNTrajectoryGeneratorInput, //
-                                                           ML::velMANNTrajectoryGeneratorOutput> //
-        (module, "velMANNTrajectoryGenerator");
-    py::class_<ML::velMANNTrajectoryGenerator,
-               System::Advanceable<ML::velMANNTrajectoryGeneratorInput, //
-                                   ML::velMANNTrajectoryGeneratorOutput>>(module,
-                                                                       "velMANNTrajectoryGenerator")
+    BipedalLocomotion::bindings::System::CreateAdvanceable<ML::VelMANNTrajectoryGeneratorInput, //
+                                                           ML::VelMANNTrajectoryGeneratorOutput> //
+        (module, "VelMANNTrajectoryGenerator");
+    py::class_<ML::VelMANNTrajectoryGenerator,
+               System::Advanceable<ML::VelMANNTrajectoryGeneratorInput, //
+                                   ML::VelMANNTrajectoryGeneratorOutput>>(module,
+                                                                       "VelMANNTrajectoryGenerator")
         .def(py::init())
         .def("set_initial_state",
-             &ML::velMANNTrajectoryGenerator::setInitialState,
+             &ML::VelMANNTrajectoryGenerator::setInitialState,
              py::arg("joint_positions"),
              py::arg("base_pose"))
-        .def("set_robot_model", [](ML::velMANNTrajectoryGenerator& impl, ::pybind11::object& obj) {
+        .def("set_robot_model", [](ML::VelMANNTrajectoryGenerator& impl, ::pybind11::object& obj) {
             iDynTree::Model* cls = py::detail::swig_wrapped_pointer_to_pybind<iDynTree::Model>(obj);
 
             if (cls == nullptr)