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| | iCubArmSensorLink (const std::string &_type, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::NO_VERBOSE) |
| | Constructor: the sensor parameters are automatically set with "right" or "left" choice.
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| virtual | ~iCubArmSensorLink () |
| | Destructor.
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| std::string | getType () const |
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| | SensorLinkNewtonEuler (const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE) |
| | Default constructor.
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| | SensorLinkNewtonEuler (const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_COM, const double _m, const yarp::sig::Matrix &_I, const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE) |
| | Constructor.
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| virtual | ~SensorLinkNewtonEuler () |
| | Destructor.
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| bool | setMeasuredFMu (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu) |
| | Set the sensor measured force/moment - if measured by a FT sensor.
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| bool | setSensor (const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_HC, const double _m, const yarp::sig::Matrix &_I) |
| | Set a new sensor or new sensor properties.
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| void | ForwardAttachToLink (iDynLink *link) |
| | Compute w,dw,ddp,dppC given the reference frame of the link where the sensor is.
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| void | BackwardAttachToLink (iDynLink *link) |
| | Compute F,Mu given the reference frame of the link where the sensor is.
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| void | ForwardForcesMomentsToLink (iDynLink *link) |
| | Forward the sensor forces and moments, measured by the sensor, to the reference frame of the link where the sensor is: this method is the base for the inverse Newton-Euler algorithm, since it forwards the sensor measurements to the iDynChain.
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| yarp::sig::Vector | getForceMoment () const |
| | Get the sensor force and moment in a single (6x1) vector.
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| const yarp::sig::Vector & | getAngVel () const |
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| const yarp::sig::Vector & | getAngAcc () const |
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| const yarp::sig::Vector & | getLinAcc () const |
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| const yarp::sig::Vector & | getLinAccC () const |
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| const yarp::sig::Vector & | getForce () const |
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| const yarp::sig::Vector & | getMoment (bool isBase=false) const |
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| double | getIm () const |
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| double | getFs () const |
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| double | getFv () const |
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| double | getD2q () const |
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| double | getDq () const |
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| double | getKr () const |
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| const yarp::sig::Vector & | getAngAccM () const |
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| double | getTorque () const |
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| const yarp::sig::Matrix & | getH () const |
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| double | getMass () const |
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| const yarp::sig::Matrix & | getInertia () const |
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| const yarp::sig::Matrix & | getR () |
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| const yarp::sig::Matrix & | getRC () |
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| const yarp::sig::Vector & | getr (bool proj=false) |
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| const yarp::sig::Vector & | getrC (bool proj=false) |
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| bool | setForce (const yarp::sig::Vector &_F) |
| | Set the OneLink force: either the corresponding iDynLink force, or the one declared as member in the child classes derived from OneLink, such as SensorLink.
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| bool | setMoment (const yarp::sig::Vector &_Mu) |
| | Set the OneLink moment: either the corresponding iDynLink moment, or the one declared as member in the child classes derived from OneLink, such as SensorLink.
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| void | setTorque (const double _Tau) |
| | Set the OneLink torque, ie the corresponding iDynLink joint torque (nothing in the child classes derived from OneLink, such as SensorLink)
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| bool | setAngVel (const yarp::sig::Vector &_w) |
| | Set the OneLink angular velocity (w), ie the corresponding iDynLink angular velocity (w) (in the child classes derived from OneLink, it depends)
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| bool | setAngAcc (const yarp::sig::Vector &_dw) |
| | Set the OneLink angular acceleration (dw), ie the corresponding iDynLink angular acceleration (dw) (in the child classes derived from OneLink, it depends)
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| bool | setLinAcc (const yarp::sig::Vector &_ddp) |
| | Set the OneLink linear acceleration (ddp), ie the corresponding iDynLink linear acceleration (ddp) (in the child classes derived from OneLink, it depends)
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| bool | setLinAccC (const yarp::sig::Vector &_ddpC) |
| | Set the OneLink linear acceleration of the COM (ddpC), ie the corresponding iDynLink linear acceleration of the COM (ddpC) (nothing in the child classes derived from OneLink, except for SensorLink)
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| bool | setAngAccM (const yarp::sig::Vector &_dwM) |
| | Set the OneLink angular acceleration of the motor (dwM), ie the corresponding iDynLink angular acceleration of the COM (dwM) (nothing in the child classes derived from OneLink)
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| std::string | toString () const |
| | Useful to print some information.
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| void | computeAngVel (iDynLink *link) |
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| void | computeAngAcc (iDynLink *link) |
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| void | computeLinAcc (iDynLink *link) |
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| void | computeLinAccC () |
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| void | computeForce (iDynLink *link) |
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| void | computeMoment (iDynLink *link) |
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| void | computeForceToLink (iDynLink *link) |
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| void | computeMomentToLink (iDynLink *link) |
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| | OneLinkNewtonEuler (iDyn::iDynLink *dlink=NULL) |
| | Default constructor.
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| | OneLinkNewtonEuler (const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE, iDyn::iDynLink *dlink=NULL) |
| | Constructor, with initialization of some data.
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| virtual | ~OneLinkNewtonEuler () |
| | Destructor.
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| void | zero () |
| | Set everything to zero; R is set to an identity matrix.
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| virtual bool | setAsBase (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp) |
| | Virtual method to set the frame as the base one: this is useful to initialize the forward phase of Newton-Euler's method.
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| virtual bool | setAsBase (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu) |
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| virtual bool | setAsFinal (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu) |
| | Set the frame as the final one: this is useful to initialize the backward phase of Newton-Euler's method, by setting F and Mu; R is an identity matrix.
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| virtual bool | setAsFinal (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp) |
| | Set the frame as the final one: this is useful to initialize the backward phase of Euler's method, by setting w, dw and ddp; R is an identity matrix.
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| virtual bool | setMeasuredTorque (const double _Tau) |
| | Set measured torque in a joint torque sensor frame
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| void | setVerbose (unsigned int verb=iCub::skinDynLib::VERBOSE) |
| | Set the verbosity level of comments during operations.
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| void | setMode (const NewEulMode _mode) |
| | Set the operation mode (static,dynamic etc)
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| bool | setZM (const yarp::sig::Vector &_zm) |
| | Set the zM vector.
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| void | setInfo (const std::string &_info) |
| | Set some information about this OneLink class.
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| NewEulMode | getMode () const |
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| yarp::sig::Vector | getZM () const |
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| std::string | getInfo () const |
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| virtual const yarp::sig::Matrix & | getH () |
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| void | ForwardKinematics (OneLinkNewtonEuler *prev) |
| | [Forward Newton-Euler] Compute w, dw, ddp, ddpC, dwM
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| void | BackwardKinematics (OneLinkNewtonEuler *prev) |
| | [Backward Kinematic computation] Compute w, dw, ddp, ddpC, dwM
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| void | BackwardWrench (OneLinkNewtonEuler *next) |
| | [Backward Newton-Euler] Compute F, Mu, Tau
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| void | ForwardWrench (OneLinkNewtonEuler *prev) |
| | [Inverse Newton-Euler] Compute F, Mu, Tau
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| virtual void | computeTorque (OneLinkNewtonEuler *prev) |
| | [all] Compute joint torque; moment must be pre-computed
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Inheritance diagram for iCub::iDyn::iCubArmSensorLink:
