Functions and classes for simplifying integration of %iDynTree and ICUB. module

Classes

class iDynTree::iKinLimbImported
iKinLimb class to extract a iKinLimb from iDynTree structures.
class iDynTree::skinDynLibLinkID
Identifier for a link and a body frame in skinDynLib.
class iDynTree::iDynTreeLinkAndFrame
Identifier for a link and frame couple in an iDynTree model.
class iDynTree::skinDynLibConversionsHelper
Helper for conversion between iDynTree data structures and skinDynLib data structures.

Functions

auto DHChainFromiKinChain(iCub::iKin::iKinChain& ikinChain, DHChain& out) -> bool
Load a iDynTree::DHChain object from a iCub::iKin::iKinChain .
auto modelFromiKinChain(iCub::iKin::iKinChain& ikinChain, Model& output) -> bool
Load a iDynTree::Model object from a iCub::iKin::iKinChain .
auto iKinLimbFromModel(const Model& model, const std::string& baseFrame, const std::string& distalFrame, iCub::iKin::iKinLimb& ikinLimb) -> bool
Extract an iCub::iKin::iKinLimb from an iDynTree::Model .
auto iKinLimbFromDHChain(const DHChain& dhChain, iCub::iKin::iKinLimb& ikinLimb) -> bool
Create a iCub::iKin::iKinLimb from an iDynTree::DHChain.

Function documentation

bool DHChainFromiKinChain(iCub::iKin::iKinChain& ikinChain, DHChain& out)
#include <iDynTree/iKinConversions.h>

Load a iDynTree::DHChain object from a iCub::iKin::iKinChain .

Returns true if all went ok, false otherwise.

bool modelFromiKinChain(iCub::iKin::iKinChain& ikinChain, Model& output)
#include <iDynTree/iKinConversions.h>

Load a iDynTree::Model object from a iCub::iKin::iKinChain .

Returns true if all went ok, false otherwise.

bool iKinLimbFromModel(const Model& model, const std::string& baseFrame, const std::string& distalFrame, iCub::iKin::iKinLimb& ikinLimb)
#include <iDynTree/iKinConversions.h>

Extract an iCub::iKin::iKinLimb from an iDynTree::Model .

Returns true if all went ok, false otherwise.

bool iKinLimbFromDHChain(const DHChain& dhChain, iCub::iKin::iKinLimb& ikinLimb)
#include <iDynTree/iKinConversions.h>

Create a iCub::iKin::iKinLimb from an iDynTree::DHChain.