#include <iCub.h>

Inheritance diagram for ICubSim:

Classes
class	iCubCovers

Public Member Functions
	ICubSim (dWorldID world, dSpaceID space, dReal X, dReal Y, dReal Z, RobotConfig &config)

	~ICubSim ()

void	resetSpeeds ()

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...

bool	checkTouchSensor (int bodyToCheck)

bool	checkTouchSensor (dBodyID id)

double	checkTouchSensor_continuousValued (int bodyToCheck)

double	checkTouchSensor_continuousValued (dBodyID id)

void	draw ()

void	getSkinAndBodyPartFromSpaceAndGeomID (const dSpaceID geomSpaceID, const dGeomID geomID, SkinPart &skinPart, BodyPart &bodyPart, HandPart &handPart, bool &skinCoverFlag, bool &fingertipFlag)

Public Member Functions inherited from ICubData
	ICubData ()

Static Public Member Functions
static void	printPositionOfGeom (dGeomID geomID)

static void	printPositionOfBody (dBodyID bodyID)

Public Attributes
EyeLids *	eyeLids

string	actElevation

string	actStartHomePos

string	actLegs

string	actTorso

string	actLArm

string	actRArm

string	actLHand

string	actRHand

string	actHead

string	actfixedHip

string	actVision

string	actHeadCover

string	actWorld

string	actPressure

string	actScreen

string	actLegsCovers

string	actLeftArmCovers

string	actRightArmCovers

string	actTorsoCovers

string	actSelfCol

string	actCoversCol

string	actSkinEmul

double	elev

dGeomID	screenGeom

bool	reinitialized

float	eyeLidRot

string	eyeLidsPortName

dSpaceID	iCub

dSpaceID	iCubHeadSpace

dSpaceID	iCubTorsoSpace

dSpaceID	iCubLeftArmSpace

dSpaceID	iCubRightArmSpace

dSpaceID	iCubLegsSpace

std::map< dSpaceID, string >	dSpaceNames

std::map< dGeomID, string >	dGeomNames

dGeomID	geom_cube [1]

dBodyID	inertialBody

dGeomID	inertialGeom

dBodyID	iCubHead

dGeomID	iCubHeadGeom

dBodyID	leftLeg [20]

dGeomID	leftLegGeom [20]

dGeomID	leftLeg_2_1

dGeomID	leftLeg_2_2

dGeomID	leftLeg_3_1

dGeomID	leftLeg_3_2

dGeomID	leftLeg_4_1

dGeomID	leftLeg_4_2

dBodyID	rightLeg [20]

dGeomID	rightLegGeom [20]

dGeomID	rightLeg_2_1

dGeomID	rightLeg_2_2

dGeomID	rightLeg_3_1

dGeomID	rightLeg_3_2

dGeomID	rightLeg_4_1

dGeomID	rightLeg_4_2

dBodyID	torso [9]

dGeomID	torsoGeom [9]

dBodyID	body [50]

dGeomID	geom [50]

dBodyID	neck [2]

dGeomID	neckgeom [2]

dGeomID	lhandfings0_geom

dGeomID	lhandfings1_geom

dBodyID	lhandfingers0

dGeomID	lhandfings2_geom

dGeomID	lhandfings3_geom

dBodyID	lhandfingers1

dGeomID	lhandfings4_geom

dGeomID	lhandfings5_geom

dBodyID	lhandfingers2

dGeomID	lhandfings6_geom

dGeomID	lhandfings7_geom

dBodyID	lhandfingers3

dGeomID	rhandfings0_geom

dGeomID	rhandfings1_geom

dBodyID	rhandfingers0

dGeomID	rhandfings2_geom

dGeomID	rhandfings3_geom

dBodyID	rhandfingers1

dGeomID	rhandfings4_geom

dGeomID	rhandfings5_geom

dBodyID	rhandfingers2

dGeomID	rhandfings6_geom

dGeomID	rhandfings7_geom

dBodyID	rhandfingers3

dGeomID	l_leg0_geom

dGeomID	l_leg1_geom

dGeomID	l_leg2_geom

dGeomID	l_leg3_geom

dGeomID	l_leg4_geom

dGeomID	l_leg5_geom

dGeomID	l_leg6_geom

dGeomID	l_leg7_geom

dGeomID	l_leg8_geom

dGeomID	r_leg0_geom

dGeomID	r_leg1_geom

dGeomID	r_leg2_geom

dGeomID	r_leg3_geom

dGeomID	r_leg4_geom

dGeomID	r_leg5_geom

dGeomID	r_leg6_geom

dGeomID	r_leg7_geom

dGeomID	r_leg8_geom

dBodyID	legs

dGeomID	torso0_geom

dGeomID	torso1_geom

dGeomID	torso1b_geom

dGeomID	torso2_geom

dGeomID	torso3_geom

dGeomID	torso4_geom

dGeomID	torso5_geom

dBodyID	body_torso

dGeomID	larm0_geom

dGeomID	larm1_geom

dGeomID	larm2_geom

dGeomID	larm3_geom

dGeomID	larm4_geom

dGeomID	larm5_geom

dBodyID	larm

dGeomID	rarm0_geom

dGeomID	rarm1_geom

dGeomID	rarm2_geom

dGeomID	rarm3_geom

dGeomID	rarm4_geom

dGeomID	rarm5_geom

dBodyID	rarm

dGeomID	l_hand0_geom

dGeomID	l_hand1_geom

dGeomID	l_hand2_geom

dGeomID	l_hand3_geom

dGeomID	l_hand4_geom

dGeomID	l_hand5_geom

dGeomID	r_hand0_geom

dGeomID	r_hand1_geom

dGeomID	r_hand2_geom

dGeomID	r_hand3_geom

dGeomID	r_hand4_geom

dGeomID	r_hand5_geom

dBodyID	l_hand

dBodyID	r_hand

dGeomID	head0_geom

dGeomID	head1_geom

dGeomID	head2_geom

dGeomID	head3_geom

dGeomID	head4_geom

dGeomID	head5_geom

dGeomID	head6_geom

dGeomID	head7_geom

dGeomID	head8_geom

dGeomID	neck0_geom

dGeomID	neck1_geom

dBodyID	head

dGeomID	eye1

dGeomID	eye2

dGeomID	eye3

dGeomID	eye4

dGeomID	eye5

dGeomID	eye1_geom

dGeomID	eye2_geom

dGeomID	eye3_geom

dGeomID	eye4_geom

dGeomID	eye5_geom

dBodyID	eye

dGeomID	List1_L_E

dGeomID	List2_L_E

dGeomID	Leye1_geom

dGeomID	Leye2_geom

dBodyID	leye

dGeomID	List1_R_E

dGeomID	List2_R_E

dGeomID	Reye1_geom

dGeomID	Reye2_geom

dBodyID	reye

dGeomID	topEyeLid_geom

dGeomID	bottomEyeLid_geom

dBodyID	topEyeLid

dBodyID	bottomEyeLid

dJointID	elevJoint

dJointID	LLegjoints [20]

dJointID	RLegjoints [20]

dJointID	Torsojoints [8]

dJointID	LAjoints [25]

dJointID	RAjoints [25]

dJointID	Hjoints [6]

dJointID	inertialJoint

dJointID	grab

dJointID	grab1

dJointID	fixedHipJoint

dReal	LLeg_speed [20]

dReal	RLeg_speed [20]

dReal	Torso_speed [8]

dReal	la_speed [25]

dReal	la_speed1 [25]

dReal	ra_speed [25]

dReal	ra_speed1 [25]

dReal	h_speed [25]

dReal	LLeg_torques [20]

dReal	RLeg_torques [20]

dReal	Torso_torques [8]

dReal	la_torques [25]

dReal	ra_torques [25]

dReal	h_torques [25]

map< string, string >	model

string	textureName [100]

map< string, dTriMeshDataID >	model_TriData

map< string, dTriMeshX >	model_trimesh

int	modelTexture [100]

int	modelTextureIndex

int	numCovers

double	torqueData [100]

map< string, iCubCovers >	model_ThreeD_obj

Vector	jP_torso [3]

Vector	jP_leftArm [8]

Vector	jP_rightArm [8]

Vector	jP_head [4]

Vector	jP_leftEye [2]

Vector	jP_rightEye [2]

Vector	jP_leftLeg [6]

Vector	jP_rightLeg [6]

Vector	jP_inertial

Vector	jA_torso [3]

Vector	jA_leftArm [8]

Vector	jA_rightArm [8]

iCub::iKin::iCubArm	iKinLeftArm

iCub::iKin::iCubArm	iKinRightArm

iCub::iKin::iCubInertialSensor	iKinInertialSensor

Bottle	emptySkinActivationHand

Bottle	emptySkinActivationForearm

Bottle	emptySkinActivationUpperArm

Bottle	emptySkinActivationTorso

Bottle	fullSkinActivationForearm

Bottle	fullSkinActivationUpperArm

Bottle	fullSkinActivationTorso

Matrix	H_r2w

Matrix	H_w2r

Public Attributes inherited from ICubData
string	configPath

Static Public Attributes
static const bool	textured = true

Detailed Description

Definition at line 75 of file iCub.h.

Constructor & Destructor Documentation

◆ ICubSim()

ICubSim::ICubSim	(	dWorldID	world,
		dSpaceID	space,
		dReal	X,
		dReal	Y,
		dReal	Z,
		RobotConfig &	config
	)

Definition at line 4188 of file iCub.cpp.

◆ ~ICubSim()

ICubSim::~ICubSim ( )

Definition at line 4085 of file iCub.cpp.

Member Function Documentation

◆ checkTouchSensor() [1/2]

bool ICubSim::checkTouchSensor ( dBodyID id )

Definition at line 131 of file iCub.cpp.

◆ checkTouchSensor() [2/2]

bool ICubSim::checkTouchSensor ( int bodyToCheck )

Definition at line 140 of file iCub.cpp.

◆ checkTouchSensor_continuousValued() [1/2]

double ICubSim::checkTouchSensor_continuousValued ( dBodyID id )

Definition at line 90 of file iCub.cpp.

◆ checkTouchSensor_continuousValued() [2/2]

double ICubSim::checkTouchSensor_continuousValued ( int bodyToCheck )

Definition at line 106 of file iCub.cpp.

◆ draw()

void ICubSim::draw ( )

Definition at line 316 of file iCub.cpp.

◆ getSkinAndBodyPartFromSpaceAndGeomID()

void ICubSim::getSkinAndBodyPartFromSpaceAndGeomID	(	const dSpaceID	geomSpaceID,
		const dGeomID	geomID,
		SkinPart &	skinPart,
		BodyPart &	bodyPart,
		HandPart &	handPart,
		bool &	skinCoverFlag,
		bool &	fingertipFlag
	)

Definition at line 4213 of file iCub.cpp.

◆ printPositionOfBody()

void ICubSim::printPositionOfBody ( dBodyID bodyID )

static

Definition at line 4204 of file iCub.cpp.

◆ printPositionOfGeom()

void ICubSim::printPositionOfGeom ( dGeomID geomID )

static

Definition at line 4198 of file iCub.cpp.

◆ resetSpeeds()

void ICubSim::resetSpeeds ( )

Definition at line 164 of file iCub.cpp.

◆ setJointControlAction()

void ICubSim::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.

Definition at line 190 of file iCub.cpp.