iCub-main
Classes
iDynBody
+ Collaboration diagram for iDynBody:

Classes

class  iCub::iDyn::RigidBodyTransformation
 
class  iCub::iDyn::iDynNode
 
class  iCub::iDyn::iDynSensorNode
 
class  iCub::iDyn::iDynSensorTorsoNode
 
class  iCub::iDyn::iCubUpperTorso
 
class  iCub::iDyn::iCubLowerTorso
 
class  iCub::iDyn::iCubWholeBody
 

Detailed Description

Classes for connecting multiple limbs and solve whole body dynamics.

Note
SI units adopted: meters for lengths and radians for angles.

Dependencies

Description

iDynNode represents a virtual node where multiple limbs are connected, and exchange kinematic and wrench information. The mutual exchange bewteen node and limb (full duplex) is managed used a RigidBodyTransformation class, containing the roto-translational matrix which describes the connection. Multiple limbs can be attached to the Node. A connection is defined also by the flows of kinematic and wrench variables: from limb to node (RBT_NODE_IN) or from limb to node (RBT_NODE_OUT).

Tested OS

Windows

Note
Release status: this library is currently under development! Date: first draft 06/2010
Author
Serena Ivaldi, Matteo Fumagalli

Copyright (C) 2010 RobotCub Consortium CopyPolicy: Released under the terms of the GNU GPL v2.0.