iCubmain

Classes for forwardinverse kinematics and dynamics of seriallinks chains of revolute joints and iCub limbs. More...
Modules  
iDynBody  
Classes for connecting multiple limbs and solve whole body dynamics.  
IDynContact  
Classes for external contact force/torque computation.  
RecursiveNewtonEuler  
Classes for force/torque computation using NewtonEuler recursive formulation, both in the forward/backward sense.  
iDynInv  
Classes for force/torque computation in a dynamic chain, where a single FT sensor is placed.  
iDynTransform  
Classes for FT sensor transformation.  
Classes  
class  iCub::iDyn::iDynLink 
A base class for defining a Link with standard DenavitHartenberg convention, providing kinematic and dynamic information. More...  
class  iCub::iDyn::iDynChain 
A Base class for defining a Serial Link Chain, using dynamics and kinematics. More...  
class  iCub::iDyn::iDynLimb 
A class for defining a generic Limb within the iDyn framework. More...  
class  iCub::iDyn::iCubArmDyn 
A class for defining the 7DOF iCub Arm in the iDyn framework. More...  
class  iCub::iDyn::iCubArmNoTorsoDyn 
A class for defining the 7DOF iCub Arm in the iDyn framework. More...  
class  iCub::iDyn::iCubTorsoDyn 
A class for defining the 3DOF iCub Torso in the iDyn framework. More...  
class  iCub::iDyn::iCubLegDyn 
A class for defining the 6DOF iCub Leg. More...  
class  iCub::iDyn::iCubLegDynV2 
A class for defining the 6DOF iCub Leg. More...  
class  iCub::iDyn::iCubNeckInertialDyn 
A class for defining the 3DOF Inertia Sensor Kinematics. More...  
class  iCub::iDyn::iCubNeckInertialDynV2 
A class for defining the 3DOF Inertia Sensor Kinematics (V2 HEAD) More...  
Classes for forwardinverse kinematics and dynamics of seriallinks chains of revolute joints and iCub limbs.
It is basically an extension of the iKin library, including dynamics. The library also provides a NewtonEuler based method to compute forces, moments, and joint torques, for each link and for FT sensor placed anywhere in the chain.
iDyn is basically an extension of the iKin library, including seriallinks chain dynamics. Thus, starting from Links (from iKinLink to iDynLink) the library provides classes for links, chain of links, and generic limbs. Of course, iCub limbs are included. In order to compute forces, moments, and joint torques, a NewtonEuler recursive formulation is provided: in the iDynChain class, the dynamics of the chain (ie computing forces and torques for each link given the dynamic information of each link and the joints configuration  pos, vel, acc) can be computed by means of the classical NewtonEuler algorithm. It is also possible to retrieve joint torques of iCub limbs with single FT sensor measurements: to this scope, iDynSensor must be used. Furthermore, projection of forces along the chain is supported: to this scope, iDynTransform must be used.
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Copyright (C) 2010 RobotCub Consortium CopyPolicy: Released under the terms of the GNU GPL v2.0.