#include <iCub.h>
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| ICubSim (dWorldID world, dSpaceID space, dReal X, dReal Y, dReal Z, RobotConfig &config) |
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| ~ICubSim () |
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void | resetSpeeds () |
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void | setJointControlAction () |
| Set the control action for all the joints, that can be either a velocity command or a torque command, depending on the current control mode. More...
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bool | checkTouchSensor (int bodyToCheck) |
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bool | checkTouchSensor (dBodyID id) |
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double | checkTouchSensor_continuousValued (int bodyToCheck) |
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double | checkTouchSensor_continuousValued (dBodyID id) |
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void | draw () |
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void | getSkinAndBodyPartFromSpaceAndGeomID (const dSpaceID geomSpaceID, const dGeomID geomID, SkinPart &skinPart, BodyPart &bodyPart, HandPart &handPart, bool &skinCoverFlag, bool &fingertipFlag) |
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| ICubData () |
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Definition at line 75 of file iCub.h.
◆ ICubSim()
ICubSim::ICubSim |
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dWorldID |
world, |
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dSpaceID |
space, |
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dReal |
X, |
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dReal |
Y, |
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dReal |
Z, |
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RobotConfig & |
config |
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) |
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◆ ~ICubSim()
◆ checkTouchSensor() [1/2]
bool ICubSim::checkTouchSensor |
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dBodyID |
id | ) |
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◆ checkTouchSensor() [2/2]
bool ICubSim::checkTouchSensor |
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int |
bodyToCheck | ) |
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◆ checkTouchSensor_continuousValued() [1/2]
double ICubSim::checkTouchSensor_continuousValued |
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dBodyID |
id | ) |
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◆ checkTouchSensor_continuousValued() [2/2]
double ICubSim::checkTouchSensor_continuousValued |
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int |
bodyToCheck | ) |
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◆ draw()
◆ getSkinAndBodyPartFromSpaceAndGeomID()
void ICubSim::getSkinAndBodyPartFromSpaceAndGeomID |
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const dSpaceID |
geomSpaceID, |
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const dGeomID |
geomID, |
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SkinPart & |
skinPart, |
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BodyPart & |
bodyPart, |
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HandPart & |
handPart, |
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bool & |
skinCoverFlag, |
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bool & |
fingertipFlag |
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) |
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◆ printPositionOfBody()
void ICubSim::printPositionOfBody |
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dBodyID |
bodyID | ) |
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static |
◆ printPositionOfGeom()
void ICubSim::printPositionOfGeom |
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dGeomID |
geomID | ) |
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static |
◆ resetSpeeds()
void ICubSim::resetSpeeds |
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◆ setJointControlAction()
void ICubSim::setJointControlAction |
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Set the control action for all the joints, that can be either a velocity command or a torque command, depending on the current control mode.
Definition at line 190 of file iCub.cpp.
◆ actCoversCol
◆ actElevation
◆ actfixedHip
◆ actHead
◆ actHeadCover
◆ actLArm
◆ actLeftArmCovers
string ICubSim::actLeftArmCovers |
◆ actLegs
◆ actLegsCovers
◆ actLHand
◆ actPressure
◆ actRArm
◆ actRHand
◆ actRightArmCovers
string ICubSim::actRightArmCovers |
◆ actScreen
◆ actSelfCol
◆ actSkinEmul
◆ actStartHomePos
string ICubSim::actStartHomePos |
◆ actTorso
◆ actTorsoCovers
string ICubSim::actTorsoCovers |
◆ actVision
◆ actWorld
◆ body
dBodyID ICubSim::body[50] |
◆ body_torso
dBodyID ICubSim::body_torso |
◆ bottomEyeLid
dBodyID ICubSim::bottomEyeLid |
◆ bottomEyeLid_geom
dGeomID ICubSim::bottomEyeLid_geom |
◆ dGeomNames
std::map<dGeomID, string> ICubSim::dGeomNames |
◆ dSpaceNames
std::map<dSpaceID, string> ICubSim::dSpaceNames |
◆ elev
◆ elevJoint
dJointID ICubSim::elevJoint |
◆ emptySkinActivationForearm
Bottle ICubSim::emptySkinActivationForearm |
◆ emptySkinActivationHand
Bottle ICubSim::emptySkinActivationHand |
◆ emptySkinActivationTorso
Bottle ICubSim::emptySkinActivationTorso |
◆ emptySkinActivationUpperArm
Bottle ICubSim::emptySkinActivationUpperArm |
◆ eye
◆ eye1
◆ eye1_geom
dGeomID ICubSim::eye1_geom |
◆ eye2
◆ eye2_geom
dGeomID ICubSim::eye2_geom |
◆ eye3
◆ eye3_geom
dGeomID ICubSim::eye3_geom |
◆ eye4
◆ eye4_geom
dGeomID ICubSim::eye4_geom |
◆ eye5
◆ eye5_geom
dGeomID ICubSim::eye5_geom |
◆ eyeLidRot
◆ eyeLids
◆ eyeLidsPortName
string ICubSim::eyeLidsPortName |
◆ fixedHipJoint
dJointID ICubSim::fixedHipJoint |
◆ fullSkinActivationForearm
Bottle ICubSim::fullSkinActivationForearm |
◆ fullSkinActivationTorso
Bottle ICubSim::fullSkinActivationTorso |
◆ fullSkinActivationUpperArm
Bottle ICubSim::fullSkinActivationUpperArm |
◆ geom
dGeomID ICubSim::geom[50] |
◆ geom_cube
dGeomID ICubSim::geom_cube[1] |
◆ grab
◆ grab1
◆ H_r2w
◆ h_speed
dReal ICubSim::h_speed[25] |
◆ h_torques
dReal ICubSim::h_torques[25] |
◆ H_w2r
◆ head
◆ head0_geom
dGeomID ICubSim::head0_geom |
◆ head1_geom
dGeomID ICubSim::head1_geom |
◆ head2_geom
dGeomID ICubSim::head2_geom |
◆ head3_geom
dGeomID ICubSim::head3_geom |
◆ head4_geom
dGeomID ICubSim::head4_geom |
◆ head5_geom
dGeomID ICubSim::head5_geom |
◆ head6_geom
dGeomID ICubSim::head6_geom |
◆ head7_geom
dGeomID ICubSim::head7_geom |
◆ head8_geom
dGeomID ICubSim::head8_geom |
◆ Hjoints
dJointID ICubSim::Hjoints[6] |
◆ iCub
◆ iCubHead
dBodyID ICubSim::iCubHead |
◆ iCubHeadGeom
dGeomID ICubSim::iCubHeadGeom |
◆ iCubHeadSpace
dSpaceID ICubSim::iCubHeadSpace |
◆ iCubLeftArmSpace
dSpaceID ICubSim::iCubLeftArmSpace |
◆ iCubLegsSpace
dSpaceID ICubSim::iCubLegsSpace |
◆ iCubRightArmSpace
dSpaceID ICubSim::iCubRightArmSpace |
◆ iCubTorsoSpace
dSpaceID ICubSim::iCubTorsoSpace |
◆ iKinInertialSensor
◆ iKinLeftArm
◆ iKinRightArm
◆ inertialBody
dBodyID ICubSim::inertialBody |
◆ inertialGeom
dGeomID ICubSim::inertialGeom |
◆ inertialJoint
dJointID ICubSim::inertialJoint |
◆ jA_leftArm
Vector ICubSim::jA_leftArm[8] |
◆ jA_rightArm
Vector ICubSim::jA_rightArm[8] |
◆ jA_torso
Vector ICubSim::jA_torso[3] |
◆ jP_head
Vector ICubSim::jP_head[4] |
◆ jP_inertial
Vector ICubSim::jP_inertial |
◆ jP_leftArm
Vector ICubSim::jP_leftArm[8] |
◆ jP_leftEye
Vector ICubSim::jP_leftEye[2] |
◆ jP_leftLeg
Vector ICubSim::jP_leftLeg[6] |
◆ jP_rightArm
Vector ICubSim::jP_rightArm[8] |
◆ jP_rightEye
Vector ICubSim::jP_rightEye[2] |
◆ jP_rightLeg
Vector ICubSim::jP_rightLeg[6] |
◆ jP_torso
Vector ICubSim::jP_torso[3] |
◆ l_hand
◆ l_hand0_geom
dGeomID ICubSim::l_hand0_geom |
◆ l_hand1_geom
dGeomID ICubSim::l_hand1_geom |
◆ l_hand2_geom
dGeomID ICubSim::l_hand2_geom |
◆ l_hand3_geom
dGeomID ICubSim::l_hand3_geom |
◆ l_hand4_geom
dGeomID ICubSim::l_hand4_geom |
◆ l_hand5_geom
dGeomID ICubSim::l_hand5_geom |
◆ l_leg0_geom
dGeomID ICubSim::l_leg0_geom |
◆ l_leg1_geom
dGeomID ICubSim::l_leg1_geom |
◆ l_leg2_geom
dGeomID ICubSim::l_leg2_geom |
◆ l_leg3_geom
dGeomID ICubSim::l_leg3_geom |
◆ l_leg4_geom
dGeomID ICubSim::l_leg4_geom |
◆ l_leg5_geom
dGeomID ICubSim::l_leg5_geom |
◆ l_leg6_geom
dGeomID ICubSim::l_leg6_geom |
◆ l_leg7_geom
dGeomID ICubSim::l_leg7_geom |
◆ l_leg8_geom
dGeomID ICubSim::l_leg8_geom |
◆ la_speed
dReal ICubSim::la_speed[25] |
◆ la_speed1
dReal ICubSim::la_speed1[25] |
◆ la_torques
dReal ICubSim::la_torques[25] |
◆ LAjoints
dJointID ICubSim::LAjoints[25] |
◆ larm
◆ larm0_geom
dGeomID ICubSim::larm0_geom |
◆ larm1_geom
dGeomID ICubSim::larm1_geom |
◆ larm2_geom
dGeomID ICubSim::larm2_geom |
◆ larm3_geom
dGeomID ICubSim::larm3_geom |
◆ larm4_geom
dGeomID ICubSim::larm4_geom |
◆ larm5_geom
dGeomID ICubSim::larm5_geom |
◆ leftLeg
dBodyID ICubSim::leftLeg[20] |
◆ leftLeg_2_1
dGeomID ICubSim::leftLeg_2_1 |
◆ leftLeg_2_2
dGeomID ICubSim::leftLeg_2_2 |
◆ leftLeg_3_1
dGeomID ICubSim::leftLeg_3_1 |
◆ leftLeg_3_2
dGeomID ICubSim::leftLeg_3_2 |
◆ leftLeg_4_1
dGeomID ICubSim::leftLeg_4_1 |
◆ leftLeg_4_2
dGeomID ICubSim::leftLeg_4_2 |
◆ leftLegGeom
dGeomID ICubSim::leftLegGeom[20] |
◆ legs
◆ leye
◆ Leye1_geom
dGeomID ICubSim::Leye1_geom |
◆ Leye2_geom
dGeomID ICubSim::Leye2_geom |
◆ lhandfingers0
dBodyID ICubSim::lhandfingers0 |
◆ lhandfingers1
dBodyID ICubSim::lhandfingers1 |
◆ lhandfingers2
dBodyID ICubSim::lhandfingers2 |
◆ lhandfingers3
dBodyID ICubSim::lhandfingers3 |
◆ lhandfings0_geom
dGeomID ICubSim::lhandfings0_geom |
◆ lhandfings1_geom
dGeomID ICubSim::lhandfings1_geom |
◆ lhandfings2_geom
dGeomID ICubSim::lhandfings2_geom |
◆ lhandfings3_geom
dGeomID ICubSim::lhandfings3_geom |
◆ lhandfings4_geom
dGeomID ICubSim::lhandfings4_geom |
◆ lhandfings5_geom
dGeomID ICubSim::lhandfings5_geom |
◆ lhandfings6_geom
dGeomID ICubSim::lhandfings6_geom |
◆ lhandfings7_geom
dGeomID ICubSim::lhandfings7_geom |
◆ List1_L_E
dGeomID ICubSim::List1_L_E |
◆ List1_R_E
dGeomID ICubSim::List1_R_E |
◆ List2_L_E
dGeomID ICubSim::List2_L_E |
◆ List2_R_E
dGeomID ICubSim::List2_R_E |
◆ LLeg_speed
dReal ICubSim::LLeg_speed[20] |
◆ LLeg_torques
dReal ICubSim::LLeg_torques[20] |
◆ LLegjoints
dJointID ICubSim::LLegjoints[20] |
◆ model
◆ model_ThreeD_obj
◆ model_TriData
map<string, dTriMeshDataID> ICubSim::model_TriData |
◆ model_trimesh
◆ modelTexture
int ICubSim::modelTexture[100] |
◆ modelTextureIndex
int ICubSim::modelTextureIndex |
◆ neck
◆ neck0_geom
dGeomID ICubSim::neck0_geom |
◆ neck1_geom
dGeomID ICubSim::neck1_geom |
◆ neckgeom
dGeomID ICubSim::neckgeom[2] |
◆ numCovers
◆ r_hand
◆ r_hand0_geom
dGeomID ICubSim::r_hand0_geom |
◆ r_hand1_geom
dGeomID ICubSim::r_hand1_geom |
◆ r_hand2_geom
dGeomID ICubSim::r_hand2_geom |
◆ r_hand3_geom
dGeomID ICubSim::r_hand3_geom |
◆ r_hand4_geom
dGeomID ICubSim::r_hand4_geom |
◆ r_hand5_geom
dGeomID ICubSim::r_hand5_geom |
◆ r_leg0_geom
dGeomID ICubSim::r_leg0_geom |
◆ r_leg1_geom
dGeomID ICubSim::r_leg1_geom |
◆ r_leg2_geom
dGeomID ICubSim::r_leg2_geom |
◆ r_leg3_geom
dGeomID ICubSim::r_leg3_geom |
◆ r_leg4_geom
dGeomID ICubSim::r_leg4_geom |
◆ r_leg5_geom
dGeomID ICubSim::r_leg5_geom |
◆ r_leg6_geom
dGeomID ICubSim::r_leg6_geom |
◆ r_leg7_geom
dGeomID ICubSim::r_leg7_geom |
◆ r_leg8_geom
dGeomID ICubSim::r_leg8_geom |
◆ ra_speed
dReal ICubSim::ra_speed[25] |
◆ ra_speed1
dReal ICubSim::ra_speed1[25] |
◆ ra_torques
dReal ICubSim::ra_torques[25] |
◆ RAjoints
dJointID ICubSim::RAjoints[25] |
◆ rarm
◆ rarm0_geom
dGeomID ICubSim::rarm0_geom |
◆ rarm1_geom
dGeomID ICubSim::rarm1_geom |
◆ rarm2_geom
dGeomID ICubSim::rarm2_geom |
◆ rarm3_geom
dGeomID ICubSim::rarm3_geom |
◆ rarm4_geom
dGeomID ICubSim::rarm4_geom |
◆ rarm5_geom
dGeomID ICubSim::rarm5_geom |
◆ reinitialized
bool ICubSim::reinitialized |
◆ reye
◆ Reye1_geom
dGeomID ICubSim::Reye1_geom |
◆ Reye2_geom
dGeomID ICubSim::Reye2_geom |
◆ rhandfingers0
dBodyID ICubSim::rhandfingers0 |
◆ rhandfingers1
dBodyID ICubSim::rhandfingers1 |
◆ rhandfingers2
dBodyID ICubSim::rhandfingers2 |
◆ rhandfingers3
dBodyID ICubSim::rhandfingers3 |
◆ rhandfings0_geom
dGeomID ICubSim::rhandfings0_geom |
◆ rhandfings1_geom
dGeomID ICubSim::rhandfings1_geom |
◆ rhandfings2_geom
dGeomID ICubSim::rhandfings2_geom |
◆ rhandfings3_geom
dGeomID ICubSim::rhandfings3_geom |
◆ rhandfings4_geom
dGeomID ICubSim::rhandfings4_geom |
◆ rhandfings5_geom
dGeomID ICubSim::rhandfings5_geom |
◆ rhandfings6_geom
dGeomID ICubSim::rhandfings6_geom |
◆ rhandfings7_geom
dGeomID ICubSim::rhandfings7_geom |
◆ rightLeg
dBodyID ICubSim::rightLeg[20] |
◆ rightLeg_2_1
dGeomID ICubSim::rightLeg_2_1 |
◆ rightLeg_2_2
dGeomID ICubSim::rightLeg_2_2 |
◆ rightLeg_3_1
dGeomID ICubSim::rightLeg_3_1 |
◆ rightLeg_3_2
dGeomID ICubSim::rightLeg_3_2 |
◆ rightLeg_4_1
dGeomID ICubSim::rightLeg_4_1 |
◆ rightLeg_4_2
dGeomID ICubSim::rightLeg_4_2 |
◆ rightLegGeom
dGeomID ICubSim::rightLegGeom[20] |
◆ RLeg_speed
dReal ICubSim::RLeg_speed[20] |
◆ RLeg_torques
dReal ICubSim::RLeg_torques[20] |
◆ RLegjoints
dJointID ICubSim::RLegjoints[20] |
◆ screenGeom
dGeomID ICubSim::screenGeom |
◆ textured
const bool ICubSim::textured = true |
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static |
◆ textureName
string ICubSim::textureName[100] |
◆ topEyeLid
dBodyID ICubSim::topEyeLid |
◆ topEyeLid_geom
dGeomID ICubSim::topEyeLid_geom |
◆ torqueData
double ICubSim::torqueData[100] |
◆ torso
dBodyID ICubSim::torso[9] |
◆ torso0_geom
dGeomID ICubSim::torso0_geom |
◆ torso1_geom
dGeomID ICubSim::torso1_geom |
◆ torso1b_geom
dGeomID ICubSim::torso1b_geom |
◆ torso2_geom
dGeomID ICubSim::torso2_geom |
◆ torso3_geom
dGeomID ICubSim::torso3_geom |
◆ torso4_geom
dGeomID ICubSim::torso4_geom |
◆ torso5_geom
dGeomID ICubSim::torso5_geom |
◆ Torso_speed
dReal ICubSim::Torso_speed[8] |
◆ Torso_torques
dReal ICubSim::Torso_torques[8] |
◆ torsoGeom
dGeomID ICubSim::torsoGeom[9] |
◆ Torsojoints
dJointID ICubSim::Torsojoints[8] |
The documentation for this class was generated from the following files:
- icub-main/src/simulators/iCubSimulation/odesdl/iCub.h
- icub-main/src/simulators/iCubSimulation/odesdl/iCub.cpp