iDyn.h File Reference

#include <yarp/os/Property.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#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 <deque>
#include <string>

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Classes
class	iCub::iDyn::iDynLink
	A base class for defining a Link with standard Denavit-Hartenberg 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 7-DOF iCub Arm in the iDyn framework. More...
class	iCub::iDyn::iCubArmNoTorsoDyn
	A class for defining the 7-DOF iCub Arm in the iDyn framework. More...
class	iCub::iDyn::iCubTorsoDyn
	A class for defining the 3-DOF iCub Torso in the iDyn framework. More...
class	iCub::iDyn::iCubLegDyn
	A class for defining the 6-DOF iCub Leg. More...
class	iCub::iDyn::iCubLegDynV2
	A class for defining the 6-DOF iCub Leg. More...
class	iCub::iDyn::iCubNeckInertialDyn
	A class for defining the 3-DOF Inertia Sensor Kinematics. More...
class	iCub::iDyn::iCubNeckInertialDynV2
	A class for defining the 3-DOF Inertia Sensor Kinematics (V2 HEAD) More...

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

Functions
void	iCub::iDyn::notImplemented (const unsigned int verbose)
void	iCub::iDyn::notImplemented (const unsigned int verbose, const std::string &msg)
void	iCub::iDyn::workInProgress (const unsigned int verbose, const std::string &msg)
bool	iCub::iDyn::asWrench (yarp::sig::Vector &w, const yarp::sig::Vector &f, const yarp::sig::Vector &m)
yarp::sig::Vector	iCub::iDyn::asWrench (const yarp::sig::Vector &f, const yarp::sig::Vector &m)
bool	iCub::iDyn::asForceMoment (const yarp::sig::Vector &w, yarp::sig::Vector &f, yarp::sig::Vector &m)