Inheritance diagram for UpTorso:

Public Member Functions
	UpTorso ()

	~UpTorso ()

Matrix	Jacobian_TorsoArmRight ()

Matrix	Jacobian_TorsoArmLeft ()

Matrix	Jacobian_TorsoHead ()

Matrix	Jacobian_HeadArmRight ()

Matrix	Jacobian_HeadArmLeft ()

Matrix	Jacobian_HeadTorso ()

Matrix	Jacobian_ArmLeftArmRight ()

Matrix	Jacobian_ArmRightArmLeft ()

Vector	Pose_TorsoArmRight (bool axisRep=false)

Vector	Pose_TorsoArmLeft (bool axisRep=false)

Vector	Pose_HeadArmRight (bool axisRep=false)

Vector	Pose_HeadArmLeft (bool axisRep=false)

Vector	Pose_TorsoHead (bool axisRep=false)

Vector	Pose_HeadTorso (bool axisRep=false)

Vector	Pose_ArmLeftArmRight (bool axisRep=false)

Vector	Pose_ArmRightArmLeft (bool axisRep=false)

string	toString ()

Public Member Functions inherited from iCub::iDyn::iDynNode
	iDynNode (const NewEulMode _mode=DYNAMIC)
	Default constructor.

	iDynNode (const std::string &_info, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::VERBOSE)
	Constructor with parameters.

virtual void	addLimb (iDyn::iDynLimb *limb, const yarp::sig::Matrix &H, const FlowType kinFlow=RBT_NODE_OUT, const FlowType wreFlow=RBT_NODE_IN, bool hasSensor=false)
	Add one limb to the node, defining its RigidBodyTransformation.

yarp::sig::Matrix	getRBT (unsigned int iLimb) const
	Return the RBT matrix of a certain limb attached to the node.

bool	solveKinematics (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	Main function to manage the exchange of kinematic information among the limbs attached to the node.

bool	solveKinematics ()
	Main function to manage the exchange of kinematic information among the limbs attached to the node.

bool	setKinematicMeasure (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	Set the kinematic measurement (w,dw,ddp) on the limb where the kinematic flow is of type RBT_NODE_IN.

virtual bool	solveWrench ()
	Main function to manage the exchange of wrench information among the limbs attached to the node.

bool	solveWrench (const yarp::sig::Matrix &FM)
	This is to manage the exchange of wrench information among the limbs attached to the node.

bool	solveWrench (const yarp::sig::Matrix &F, const yarp::sig::Matrix &M)
	This is to manage the exchange of wrench information among the limbs attached to the node.

virtual bool	setWrenchMeasure (const yarp::sig::Matrix &F, const yarp::sig::Matrix &M)
	Set the wrench measure on the limbs with input wrench.

virtual bool	setWrenchMeasure (const yarp::sig::Matrix &FM)
	Set the wrench measure on the limbs with input wrench.

yarp::sig::Vector	getForce () const
	Return the node force.

yarp::sig::Vector	getMoment () const
	Return the node moment.

yarp::sig::Vector	getAngVel () const
	Return the node angular velocity.

yarp::sig::Vector	getAngAcc () const
	Return the node angular acceleration.

yarp::sig::Vector	getLinAcc () const
	Return the node linear acceleration.

yarp::sig::Matrix	computeJacobian (unsigned int iChain)
	Compute the Jacobian of the limb with index iChain in the node, in its default direction (as it would be done by iKin).

yarp::sig::Matrix	computeJacobian (unsigned int iChain, unsigned int iLink)
	Compute the Jacobian of the i-th link of the limb with index iChain in the node, in its default direction (as it would be done by iKin).

yarp::sig::Matrix	computeJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB)
	Compute the Jacobian between two links in two different chains.

yarp::sig::Matrix	computeJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB)
	Compute the Jacobian between two links in two different chains.

yarp::sig::Vector	computePose (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB, const bool axisRep)
	Compute the Pose of the end-effector, given a "virtual" chain connecting two limbs.

yarp::sig::Vector	computePose (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, const bool axisRep)
	Compute the Pose of the end-effector, given a "virtual" chain connecting two limbs.

yarp::sig::Matrix	TESTING_computeCOMJacobian (unsigned int iChain, unsigned int iLink)
	Compute the Jacobian of the COM of the i-th link of the limb with index iChain in the node.

yarp::sig::Matrix	TESTING_computeCOMJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB)
	Compute the Jacobian of the COM of link iLinkB, in chainB, when two different chains (A and B) are connected.

Public Attributes
iDynLimb *	arm_right

iDynLimb *	head

iDynLimb *	torso

iDynLimb *	arm_left

Additional Inherited Members
Protected Member Functions inherited from iCub::iDyn::iDynNode
void	zero ()
	Reset all data to zero.

void	compute_Pn_HAN (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node)
	Compute Pn and H_A_Node matrices given two chains.

void	compute_Pn_HAN (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node)
	Compute Pn and H_A_Node matrices given two chains.

void	compute_Pn_HAN_COM (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node)
	Compute Pn and H_A_Node matrices given two chains.

unsigned int	howManyWrenchInputs (bool afterAttach=false) const
	Return the number of limbs with wrench input, i.e.

unsigned int	howManyKinematicInputs (bool afterAttach=false) const
	Return the number of limbs with kinematic input, i.e.

Protected Attributes inherited from iCub::iDyn::iDynNode
std::deque< RigidBodyTransformation >	rbtList
	the list of RBT

NewEulMode	mode
	STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY.

std::string	info
	info or useful notes

unsigned int	verbose
	verbosity flag

yarp::sig::Vector	w
	angular velocity

yarp::sig::Vector	dw
	angular acceleration

yarp::sig::Vector	ddp
	linear acceleration

yarp::sig::Vector	F
	force

yarp::sig::Vector	Mu
	moment

yarp::sig::Vector	COM
	COM position of the node.

double	mass
	total mass of the node

Detailed Description

Definition at line 44 of file main.cpp.

Constructor & Destructor Documentation

◆ UpTorso()

UpTorso::UpTorso ( )

inline

Definition at line 54 of file main.cpp.

◆ ~UpTorso()

UpTorso::~UpTorso ( )

inline

Definition at line 104 of file main.cpp.

Member Function Documentation

◆ Jacobian_ArmLeftArmRight()

Matrix UpTorso::Jacobian_ArmLeftArmRight ( )

inline

Definition at line 131 of file main.cpp.

◆ Jacobian_ArmRightArmLeft()

Matrix UpTorso::Jacobian_ArmRightArmLeft ( )

inline

Definition at line 132 of file main.cpp.

◆ Jacobian_HeadArmLeft()

Matrix UpTorso::Jacobian_HeadArmLeft ( )

inline

Definition at line 129 of file main.cpp.

◆ Jacobian_HeadArmRight()

Matrix UpTorso::Jacobian_HeadArmRight ( )

inline

Definition at line 128 of file main.cpp.

◆ Jacobian_HeadTorso()

Matrix UpTorso::Jacobian_HeadTorso ( )

inline

Definition at line 130 of file main.cpp.

◆ Jacobian_TorsoArmLeft()

Matrix UpTorso::Jacobian_TorsoArmLeft ( )

inline

Definition at line 126 of file main.cpp.

◆ Jacobian_TorsoArmRight()

Matrix UpTorso::Jacobian_TorsoArmRight ( )

inline

Definition at line 125 of file main.cpp.

◆ Jacobian_TorsoHead()

Matrix UpTorso::Jacobian_TorsoHead ( )

inline

Definition at line 127 of file main.cpp.

◆ Pose_ArmLeftArmRight()

Vector UpTorso::Pose_ArmLeftArmRight ( bool axisRep = false )

inline

Definition at line 144 of file main.cpp.

◆ Pose_ArmRightArmLeft()

Vector UpTorso::Pose_ArmRightArmLeft ( bool axisRep = false )

inline

Definition at line 145 of file main.cpp.

◆ Pose_HeadArmLeft()

Vector UpTorso::Pose_HeadArmLeft ( bool axisRep = false )

inline

Definition at line 141 of file main.cpp.

◆ Pose_HeadArmRight()

Vector UpTorso::Pose_HeadArmRight ( bool axisRep = false )

inline

Definition at line 140 of file main.cpp.

◆ Pose_HeadTorso()

Vector UpTorso::Pose_HeadTorso ( bool axisRep = false )

inline

Definition at line 143 of file main.cpp.

◆ Pose_TorsoArmLeft()

Vector UpTorso::Pose_TorsoArmLeft ( bool axisRep = false )

inline

Definition at line 139 of file main.cpp.

◆ Pose_TorsoArmRight()

Vector UpTorso::Pose_TorsoArmRight ( bool axisRep = false )

inline

Definition at line 138 of file main.cpp.

◆ Pose_TorsoHead()

Vector UpTorso::Pose_TorsoHead ( bool axisRep = false )

inline

Definition at line 142 of file main.cpp.

◆ toString()

string UpTorso::toString ( )

inline

Definition at line 148 of file main.cpp.

Member Data Documentation

◆ arm_left

iDynLimb* UpTorso::arm_left

Definition at line 51 of file main.cpp.

◆ arm_right

iDynLimb* UpTorso::arm_right

Definition at line 48 of file main.cpp.

◆ head

iDynLimb* UpTorso::head

Definition at line 49 of file main.cpp.

◆ torso

iDynLimb* UpTorso::torso

Definition at line 50 of file main.cpp.

The documentation for this class was generated from the following file:

icub-tutorials/src/iDyn/multiLimbJacobian/main.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UpTorso()

◆ ~UpTorso()

Member Function Documentation

◆ Jacobian_ArmLeftArmRight()

◆ Jacobian_ArmRightArmLeft()

◆ Jacobian_HeadArmLeft()

◆ Jacobian_HeadArmRight()

◆ Jacobian_HeadTorso()

◆ Jacobian_TorsoArmLeft()

◆ Jacobian_TorsoArmRight()

◆ Jacobian_TorsoHead()

◆ Pose_ArmLeftArmRight()

◆ Pose_ArmRightArmLeft()

◆ Pose_HeadArmLeft()

◆ Pose_HeadArmRight()

◆ Pose_HeadTorso()

◆ Pose_TorsoArmLeft()

◆ Pose_TorsoArmRight()

◆ Pose_TorsoHead()

◆ toString()

Member Data Documentation

◆ arm_left

◆ arm_right

◆ head

◆ torso