iDynTree/LinkState.h file

Namespaces

namespace iDynTree

Classes

class iDynTree::LinkPositions

class iDynTree::LinkWrenches

Vector of wrenches connected in some way to the link of a model.

class iDynTree::LinkInertias

Class for storing a vector of SpatialInertia objects , one for each link in a model.

class iDynTree::LinkArticulatedBodyInertias

Class for storing a vector of ArticulatedBodyInertias objects , one for each link in a model.

class iDynTree::LinkVelArray

Class for storing a vector of twists, one for each link in a model.

class iDynTree::LinkAccArray

Class for storing a vector of spatial accelerations, one for each link in a model.

Typedefs

using LinkNetExternalWrenches = LinkWrenches

Vector of the sum of all the external wrenches excerted on each link.

using LinkInternalWrenches = LinkWrenches

Vector of the wrenches acting that a link excert on his parent, given a Traversal.

using LinkNetTotalWrenchesWithoutGravity = LinkWrenches

Vector of the sum of all the wrenches (both internal and external, excluding gravity) acting on link i, expressed (both orientation and point) with respect to the reference frame of link i.

using LinkCompositeRigidBodyInertias = LinkInertias

using LinkProperAccArray = LinkAccArray

Typedef used when the vector is meant to be a vector of link proper accelerations.

Typedef documentation