| addLink(const unsigned int i, iKinLink &l) | iCub::iKin::iKinChain | |
| allList | iCub::iKin::iKinChain | protected |
| AnaJacobian(const unsigned int i, unsigned int col) | iCub::iKin::iKinChain | |
| AnaJacobian(unsigned int col=3) | iCub::iKin::iKinChain | |
| AnaJacobian(const yarp::sig::Vector &q, unsigned int col=3) | iCub::iKin::iKinChain | |
| blockLink(const unsigned int i, double Ang) | iCub::iKin::iKinChain | |
| blockLink(const unsigned int i) | iCub::iKin::iKinChain | inline |
| build() | iCub::iDyn::iDynChain | protectedvirtual |
| clear() | iCub::iKin::iKinChain | |
| clone(const iDynChain &c) | iCub::iDyn::iDynChain | protectedvirtual |
| iCub::iKin::iKinChain::clone(const iKinChain &c) | iCub::iKin::iKinChain | protectedvirtual |
| computeCcGravityTorques(const yarp::sig::Vector &ddp0) | iCub::iDyn::iDynChain | |
| computeCcGravityTorques(const yarp::sig::Vector &ddp0, const yarp::sig::Vector &q, const yarp::sig::Vector &dq) | iCub::iDyn::iDynChain | |
| computeCcTorques() | iCub::iDyn::iDynChain | |
| computeCcTorques(const yarp::sig::Vector &q, const yarp::sig::Vector &dq) | iCub::iDyn::iDynChain | |
| computeGeoJacobian(const unsigned int iLinkN, const yarp::sig::Matrix &Pn) | iCub::iDyn::iDynChain | |
| computeGeoJacobian(const unsigned int iLinkN, const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &_H0) | iCub::iDyn::iDynChain | |
| computeGeoJacobian(const yarp::sig::Matrix &Pn) | iCub::iDyn::iDynChain | |
| computeGeoJacobian(const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &_H0) | iCub::iDyn::iDynChain | |
| computeGravityTorques(const yarp::sig::Vector &ddp0) | iCub::iDyn::iDynChain | |
| computeGravityTorques(const yarp::sig::Vector &ddp0, const yarp::sig::Vector &q) | iCub::iDyn::iDynChain | |
| computeKinematicNewtonEuler() | iCub::iDyn::iDynChain | |
| computeMassMatrix() | iCub::iDyn::iDynChain | |
| computeMassMatrix(const yarp::sig::Vector &q) | iCub::iDyn::iDynChain | |
| computeNewtonEuler(const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0, const yarp::sig::Vector &Fend, const yarp::sig::Vector &Muend) | iCub::iDyn::iDynChain | |
| computeNewtonEuler() | iCub::iDyn::iDynChain | |
| computeWrenchNewtonEuler() | iCub::iDyn::iDynChain | |
| curr_ddq | iCub::iDyn::iDynChain | protected |
| curr_dq | iCub::iDyn::iDynChain | protected |
| curr_q | iCub::iKin::iKinChain | protected |
| d2RotAng(const yarp::sig::Matrix &R, const yarp::sig::Matrix &dRi, const yarp::sig::Matrix &dRj, const yarp::sig::Matrix &d2R) | iCub::iKin::iKinChain | protected |
| dispose() | iCub::iDyn::iDynChain | protectedvirtual |
| DJacobian(const yarp::sig::Vector &dq) | iCub::iKin::iKinChain | |
| DJacobian(const unsigned int lnk, const yarp::sig::Vector &dq) | iCub::iKin::iKinChain | |
| DOF | iCub::iKin::iKinChain | protected |
| dRotAng(const yarp::sig::Matrix &R, const yarp::sig::Matrix &dR) | iCub::iKin::iKinChain | protected |
| EndEffPose(const bool axisRep=true) | iCub::iKin::iKinChain | |
| EndEffPose(const yarp::sig::Vector &q, const bool axisRep=true) | iCub::iKin::iKinChain | |
| EndEffPosition() | iCub::iKin::iKinChain | |
| EndEffPosition(const yarp::sig::Vector &q) | iCub::iKin::iKinChain | |
| fastHessian_ij(const unsigned int i, const unsigned int j) | iCub::iKin::iKinChain | |
| fastHessian_ij(const unsigned int lnk, const unsigned int i, const unsigned int j) | iCub::iKin::iKinChain | |
| GeoJacobian(const unsigned int i) | iCub::iKin::iKinChain | |
| GeoJacobian() | iCub::iKin::iKinChain | |
| GeoJacobian(const yarp::sig::Vector &q) | iCub::iKin::iKinChain | |
| getAng() | iCub::iKin::iKinChain | |
| getAng(const unsigned int i) | iCub::iKin::iKinChain | |
| getAngAcc(const unsigned int i) const | iCub::iDyn::iDynChain | |
| getAngVel(const unsigned int i) const | iCub::iDyn::iDynChain | |
| getCOM(unsigned int iLink) | iCub::iDyn::iDynChain | |
| getConstraint(unsigned int i) | iCub::iKin::iKinChain | inline |
| getD2Ang() | iCub::iDyn::iDynChain | |
| getD2Ang(const unsigned int i) | iCub::iDyn::iDynChain | |
| getDAng() | iCub::iDyn::iDynChain | |
| getDAng(const unsigned int i) | iCub::iDyn::iDynChain | |
| getDenHart(unsigned int i) | iCub::iDyn::iDynChain | |
| getDOF() const | iCub::iKin::iKinChain | inline |
| getForce(const unsigned int iLink) const | iCub::iDyn::iDynChain | |
| getForceMomentEndEff() const | iCub::iDyn::iDynChain | |
| getForces() const | iCub::iDyn::iDynChain | |
| getForcesNewtonEuler() const | iCub::iDyn::iDynChain | |
| getFrameKinematic(unsigned int i, yarp::sig::Vector &w, yarp::sig::Vector &dw, yarp::sig::Vector &ddp) | iCub::iDyn::iDynChain | |
| getFrameWrench(unsigned int i, yarp::sig::Vector &F, yarp::sig::Vector &Mu) | iCub::iDyn::iDynChain | |
| getH(const unsigned int i, const bool allLink=false) | iCub::iKin::iKinChain | |
| getH() | iCub::iKin::iKinChain | |
| getH(const yarp::sig::Vector &q) | iCub::iKin::iKinChain | |
| getH0() const | iCub::iKin::iKinChain | inline |
| getHCOM(unsigned int iLink) | iCub::iDyn::iDynChain | |
| getHN() const | iCub::iKin::iKinChain | inline |
| getInertia(const unsigned int i) const | iCub::iDyn::iDynChain | |
| getIterModeKinematic() const | iCub::iDyn::iDynChain | |
| getIterModeWrench() const | iCub::iDyn::iDynChain | |
| getJointBoundMax() | iCub::iDyn::iDynChain | |
| getJointBoundMin() | iCub::iDyn::iDynChain | |
| getKinematicNewtonEuler(yarp::sig::Vector &w, yarp::sig::Vector &dw, yarp::sig::Vector &ddp) | iCub::iDyn::iDynChain | |
| getLinAcc(const unsigned int i) const | iCub::iDyn::iDynChain | |
| getLinAccCOM(const unsigned int i) const | iCub::iDyn::iDynChain | |
| getLinVel(const unsigned int i) const | iCub::iDyn::iDynChain | |
| getLinVelCOM(const unsigned int i) const | iCub::iDyn::iDynChain | |
| getMass(const unsigned int i) const | iCub::iDyn::iDynChain | |
| getMasses() const | iCub::iDyn::iDynChain | |
| getMoment(const unsigned int iLink) const | iCub::iDyn::iDynChain | |
| getMoments() const | iCub::iDyn::iDynChain | |
| getMomentsNewtonEuler() const | iCub::iDyn::iDynChain | |
| getN() const | iCub::iKin::iKinChain | inline |
| getTorque(const unsigned int iLink) const | iCub::iDyn::iDynChain | |
| getTorques() const | iCub::iDyn::iDynChain | |
| getTorquesNewtonEuler() const | iCub::iDyn::iDynChain | |
| getVerbosity() const | iCub::iKin::iKinChain | inline |
| getWrenchNewtonEuler(yarp::sig::Vector &F, yarp::sig::Vector &Mu) | iCub::iDyn::iDynChain | |
| H0 | iCub::iKin::iKinChain | protected |
| hash | iCub::iKin::iKinChain | protected |
| hash_dof | iCub::iKin::iKinChain | protected |
| hess_J | iCub::iKin::iKinChain | protected |
| hess_Jlnk | iCub::iKin::iKinChain | protected |
| Hessian_ij(const unsigned int i, const unsigned int j) | iCub::iKin::iKinChain | |
| Hessian_ij(const unsigned int lnk, const unsigned int i, const unsigned int j) | iCub::iKin::iKinChain | |
| HN | iCub::iKin::iKinChain | protected |
| iDynChain() | iCub::iDyn::iDynChain | |
| iDynChain(const iDynChain &c) | iCub::iDyn::iDynChain | |
| iDynContactSolver class | iCub::iDyn::iDynChain | friend |
| iDynInvSensor class | iCub::iDyn::iDynChain | friend |
| iDynSensor class | iCub::iDyn::iDynChain | friend |
| iKinChain() | iCub::iKin::iKinChain | |
| iKinChain(const iKinChain &c) | iCub::iKin::iKinChain | |
| initKinematicNewtonEuler(const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0) | iCub::iDyn::iDynChain | |
| initNewtonEuler(const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0, const yarp::sig::Vector &Fend, const yarp::sig::Vector &Muend) | iCub::iDyn::iDynChain | |
| initNewtonEuler() | iCub::iDyn::iDynChain | |
| initWrenchNewtonEuler(const yarp::sig::Vector &Fend, const yarp::sig::Vector &Muend) | iCub::iDyn::iDynChain | |
| isLinkBlocked(const unsigned int i) | iCub::iKin::iKinChain | |
| iterateMode_kinematics | iCub::iDyn::iDynChain | protected |
| iterateMode_wrench | iCub::iDyn::iDynChain | protected |
| N | iCub::iKin::iKinChain | protected |
| NE | iCub::iDyn::iDynChain | protected |
| OneChainNewtonEuler class | iCub::iDyn::iDynChain | friend |
| operator()(const unsigned int i) | iCub::iKin::iKinChain | inline |
| operator--(int) | iCub::iKin::iKinChain | |
| operator<<(iKinLink &l) | iCub::iKin::iKinChain | |
| operator=(const iDynChain &c) | iCub::iDyn::iDynChain | |
| iCub::iKin::iKinChain::operator=(const iKinChain &c) | iCub::iKin::iKinChain | |
| operator[](const unsigned int i) | iCub::iKin::iKinChain | inline |
| popLink() | iCub::iKin::iKinChain | |
| Pose(const unsigned int i, const bool axisRep=true) | iCub::iKin::iKinChain | |
| Position(const unsigned int i) | iCub::iKin::iKinChain | |
| prepareForHessian() | iCub::iKin::iKinChain | |
| prepareForHessian(const unsigned int lnk) | iCub::iKin::iKinChain | |
| prepareNewtonEuler(const NewEulMode NewEulMode_s=DYNAMIC) | iCub::iDyn::iDynChain | |
| pushLink(iKinLink &l) | iCub::iKin::iKinChain | |
| quickList | iCub::iKin::iKinChain | protected |
| refLink(const unsigned int i) | iCub::iDyn::iDynChain | protected |
| releaseLink(const unsigned int i) | iCub::iKin::iKinChain | |
| RigidBodyTransformation class | iCub::iDyn::iDynChain | friend |
| rmLink(const unsigned int i) | iCub::iKin::iKinChain | |
| RotAng(const yarp::sig::Matrix &R) | iCub::iKin::iKinChain | protected |
| setAllConstraints(bool _constrained) | iCub::iKin::iKinChain | |
| setAllLinkVerbosity(unsigned int _verbose) | iCub::iKin::iKinChain | |
| setAng(const yarp::sig::Vector &q) | iCub::iDyn::iDynChain | |
| setAng(const unsigned int i, double q) | iCub::iDyn::iDynChain | |
| setBlockingValue(const unsigned int i, double Ang) | iCub::iKin::iKinChain | |
| setConstraint(unsigned int i, bool _constrained) | iCub::iKin::iKinChain | inline |
| setD2Ang(const yarp::sig::Vector &ddq) | iCub::iDyn::iDynChain | |
| setD2Ang(const unsigned int i, double ddq) | iCub::iDyn::iDynChain | |
| setDAng(const yarp::sig::Vector &dq) | iCub::iDyn::iDynChain | |
| setDAng(const unsigned int i, double dq) | iCub::iDyn::iDynChain | |
| setDynamicParameters(const unsigned int i, const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I, const double _kr, const double _Fv, const double _Fs, const double _Im) | iCub::iDyn::iDynChain | |
| setDynamicParameters(const unsigned int i, const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I) | iCub::iDyn::iDynChain | |
| setH0(const yarp::sig::Matrix &_H0) | iCub::iKin::iKinChain | |
| setHN(const yarp::sig::Matrix &_HN) | iCub::iKin::iKinChain | |
| setIterMode(const ChainComputationMode mode=KINFWD_WREBWD) | iCub::iDyn::iDynChain | |
| setIterModeKinematic(const ChainIterationMode _iterateMode_kinematics=FORWARD) | iCub::iDyn::iDynChain | |
| setIterModeWrench(const ChainIterationMode _iterateMode_wrench=BACKWARD) | iCub::iDyn::iDynChain | |
| setMass(const unsigned int i, const double _m) | iCub::iDyn::iDynChain | |
| setMasses(yarp::sig::Vector _m) | iCub::iDyn::iDynChain | |
| setModeNewtonEuler(const NewEulMode NewEulMode_s=DYNAMIC) | iCub::iDyn::iDynChain | |
| setStaticParameters(const unsigned int i, const double _m, const yarp::sig::Matrix &_HC) | iCub::iDyn::iDynChain | |
| setVerbosity(unsigned int _verbose) | iCub::iKin::iKinChain | inline |
| TESTING_computeCOMJacobian(const unsigned int iLink) | iCub::iDyn::iDynChain | |
| TESTING_computeCOMJacobian(const unsigned int iLink, const yarp::sig::Matrix &Pn) | iCub::iDyn::iDynChain | |
| TESTING_computeCOMJacobian(const unsigned int iLink, const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &_H0) | iCub::iDyn::iDynChain | |
| verbose | iCub::iKin::iKinChain | protected |
| zero0 | iCub::iDyn::iDynChain | protected |
| ~iDynChain() | iCub::iDyn::iDynChain | virtual |
| ~iKinChain() | iCub::iKin::iKinChain | virtual |
