iCub-main
Classes | Namespaces | Enumerations | Variables
iDynInv.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/iDyn.h>
#include <iCub/skinDynLib/common.h>
#include <deque>
#include <string>
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Go to the source code of this file.

Classes

class  iCub::iDyn::OneLinkNewtonEuler
 
class  iCub::iDyn::BaseLinkNewtonEuler
 
class  iCub::iDyn::FinalLinkNewtonEuler
 
class  iCub::iDyn::SensorLinkNewtonEuler
 
class  iCub::iDyn::OneChainNewtonEuler
 
class  iCub::iDyn::iDynInvSensor
 
class  iCub::iDyn::iCubArmSensorLink
 
class  iCub::iDyn::iCubLegSensorLink
 
class  iCub::iDyn::iDynInvSensorArm
 
class  iCub::iDyn::iDynInvSensorArmNoTorso
 
class  iCub::iDyn::iDynInvSensorLeg
 
class  iCub::iDyn::iDynSensor
 
class  iCub::iDyn::iDynSensorArm
 
class  iCub::iDyn::iDynSensorArmNoTorso
 
class  iCub::iDyn::iDynSensorLeg
 

Namespaces

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

Enumerations

enum  iCub::iDyn::NewEulMode {
  iCub::iDyn::STATIC,
  iCub::iDyn::DYNAMIC,
  iCub::iDyn::DYNAMIC_W_ROTOR,
  iCub::iDyn::DYNAMIC_CORIOLIS_GRAVITY
}
 
enum  iCub::iDyn::ChainIterationMode {
  iCub::iDyn::FORWARD,
  iCub::iDyn::BACKWARD
}
 
enum  iCub::iDyn::ChainComputationMode {
  iCub::iDyn::KINFWD_WREFWD,
  iCub::iDyn::KINFWD_WREBWD,
  iCub::iDyn::KINBWD_WREFWD,
  iCub::iDyn::KINBWD_WREBWD
}
 

Variables

const std::string iCub::iDyn::NewEulMode_s [4] = {"static","dynamic","dynamic with motor/rotor","dynamic with only Coriolis and gravitational terms"}
 
const std::string iCub::iDyn::ChainIterationMode_s [2] = {"Forward (Base To End)","Backward (End To Base)"}
 
const std::string iCub::iDyn::ChainComputationMode_s [4] = {"Kinematic Forward - Wrench Forward","Kinematic Forward - Wrench Backward","Kinematic Backward - Wrench Forward","Kinematic Backward - Wrench Backward"}