iCub-main
Modules
+ Collaboration diagram for iKin:

Modules

 iKinFwd
 
 iKinHlp
 
 iKinInv
 
 iKinIpOpt
 
 iKinSlv
 

Detailed Description

Classes for forward-inverse kinematics of serial-links chains of revolute joints and iCub limbs

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

Dependencies

Note
If you're going to use iKin for your work, please quote it within any resulting publication: Pattacini U., Modular Cartesian Controllers for Humanoid Robots: Design and Implementation on the iCub, Ph.D. Dissertation, RBCS, Istituto Italiano di Tecnologia, 2011.
Author
Ugo Pattacini