iCubmain

Classes for force/torque computation using NewtonEuler recursive formulation, both in the forward/backward sense. More...
Classes  
class  iCub::iDyn::OneLinkNewtonEuler 
A base class for computing forces and torques in a serial link chain. More...  
class  iCub::iDyn::BaseLinkNewtonEuler 
A class for setting a virtual base link: this is useful to initialize the forward phase of NewtonEuler's method, by setting w, dw, ddp; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive NewtonEuler computations. More...  
class  iCub::iDyn::FinalLinkNewtonEuler 
A class for setting a virtual final link: this is useful to initialize the backward phase of NewtonEuler's method, by setting F, Mu; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive NewtonEuler computations. More...  
class  iCub::iDyn::SensorLinkNewtonEuler 
A class for setting a virtual sensor link. More...  
class  iCub::iDyn::OneChainNewtonEuler 
A class for computing forces and torques in a iDynChain. More...  
class  iCub::iDyn::iCubArmSensorLink 
A class for setting a virtual sensor link on the iCub arm, for the arm FT sensor. More...  
class  iCub::iDyn::iCubLegSensorLink 
A class for setting a virtual sensor link on the iCub leg, for the leg FT sensor. More...  
Classes for force/torque computation using NewtonEuler recursive formulation, both in the forward/backward sense.
OneLinkNewtonEuler is a class that provides NewtonEuler recursive formulation, for the computation of forces, moments and joint torques in a kinematic chain; both classical and "inverse" formulation are included; the classe is the basis for the computation of torques given force/torque sensor measurements, given any sensor anywhere in the dynamic/kinematic chain. BaseLink, FinalLink and SensorLinkNewtonEuler are derived class, to be used for computations. OneChainNewtonEuler defines a chain of OneLinkNewtonEuler corresponding to an iDynChain: it constructs a chain with a BaseLink, N OneLinks corresponding to the N iDynLinks of the iDynChain, and a FinalLink. BaseLink and FinalLink are used only to initialize the two phases of the NewtonEuler algorithm, thus they don't have a corresponding dynamic link but a virtual one.
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