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Classes | Namespaces | Functions
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>
+ Include dependency graph for iDyn.h:
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Go to the source code of this file.

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

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