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
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)