iCub-main
iDynBody.h File Reference
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <iCub/ctrl/math.h>
#include <iCub/iKin/iKinFwd.h>
#include <iCub/iDyn/iDynInv.h>
#include <iCub/iDyn/iDynContact.h>
#include <deque>
#include <string>
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## Classes

struct  iCub::iDyn::version_tag

class  iCub::iDyn::RigidBodyTransformation
A class for setting a rigid body transformation between iDynLimb and iDynNode. More...

class  iCub::iDyn::iDynNode
A class for connecting two or mutiple limbs and exchanging kinematic and wrench information between limbs. More...

class  iCub::iDyn::iDynSensorNode
A class for connecting two or mutiple limbs and exchanging kinematic and wrench information between limbs, when one or multiple limbs have FT sensors. More...

class  iCub::iDyn::iDynSensorTorsoNode
A class for connecting a central-up limb, a left and right limb of the iCub, and exchanging kinematic and wrench information between limbs, when both left/right limb have FT sensors and the central-up one use the kinematic and wrench information coming from a inertial measurements or another iDynSensorNode. More...

class  iCub::iDyn::iCubUpperTorso
A class for connecting head, left and right arm of the iCub, and exchanging kinematic and wrench information between limbs, when both arms have FT sensors and the head use the inertial sensor. More...

class  iCub::iDyn::iCubLowerTorso
A class for connecting torso, left and right leg of the iCub, and exchanging kinematic and wrench information between limbs, when both legs have FT sensors and the torso use the kinematic and wrench information coming from UpperTorso. More...

class  iCub::iDyn::iCubWholeBody
A class for connecting UpperTorso and LowerTorso of the iCub, then getting the WholeBody in the dynamic framework. More...

## Namespaces

iCub
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.

iCub::iDyn

## Macros

#define RBT_HAS_SENSOR   true

#define RBT_NO_SENSOR   false

#define NODE_AFTER_ATTACH   true

#define NODE_NO_ATTACH   false

## Enumerations

enum  iCub::iDyn::InteractionType {
iCub::iDyn::RBT_BASE ,
iCub::iDyn::RBT_ENDEFF
}

enum  iCub::iDyn::FlowType {
iCub::iDyn::RBT_NODE_IN ,
iCub::iDyn::RBT_NODE_OUT
}

enum  iCub::iDyn::JacobType {
iCub::iDyn::JAC_KIN ,
iCub::iDyn::JAC_IKIN
}

## ◆ NODE_AFTER_ATTACH

 #define NODE_AFTER_ATTACH   true

Definition at line 104 of file iDynBody.h.

## ◆ NODE_NO_ATTACH

 #define NODE_NO_ATTACH   false

Definition at line 105 of file iDynBody.h.

## ◆ RBT_HAS_SENSOR

 #define RBT_HAS_SENSOR   true

Definition at line 102 of file iDynBody.h.

## ◆ RBT_NO_SENSOR

 #define RBT_NO_SENSOR   false

Definition at line 103 of file iDynBody.h.