#include <yarp/os/Property.h>
#include <iCub/ctrl/minJerkCtrl.h>
#include <iCub/ctrl/pids.h>
#include <iCub/iKin/iKinFwd.h>

Include dependency graph for iKinInv.h:

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Go to the source code of this file.

Classes
class	iCub::iKin::iKinCtrl
	Abstract class for inverting chain's kinematics. More...

class	iCub::iKin::SteepCtrl
	A class derived from iKinCtrl implementing two standard algorithms based on steepest descent qdot=-Kp*grad. More...

class	iCub::iKin::VarKpSteepCtrl
	A class derived from SteepCtrl implementing the variable gain algorithm. More...

class	iCub::iKin::LMCtrl
	A class derived from iKinCtrl implementing the Levenberg-Marquardt algorithm: More...

class	iCub::iKin::LMCtrl_GPM
	A class derived from LMCtrl implementing the Gradient Projection Method according to the paper available here. More...

class	iCub::iKin::MultiRefMinJerkCtrl
	A class derived from iKinCtrl implementing the multi-referential approach (pdf). More...

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

	iCub::iKin

Macros
#define	IKINCTRL_STATE_RUNNING 0

#define	IKINCTRL_STATE_INTARGET 1

#define	IKINCTRL_STATE_DEADLOCK 2

#define	IKINCTRL_POSE_FULL 0

#define	IKINCTRL_POSE_XYZ 1

#define	IKINCTRL_POSE_ANG 2

#define	IKINCTRL_STEEP_JT 0

#define	IKINCTRL_STEEP_PINV 1

#define	IKINCTRL_RET_TOLX 0

#define	IKINCTRL_RET_TOLSIZE 1

#define	IKINCTRL_RET_TOLQ 2

#define	IKINCTRL_RET_MAXITER 3

#define	IKINCTRL_RET_EXHALT 4

#define	IKINCTRL_DISABLED -1

Macro Definition Documentation

◆ IKINCTRL_DISABLED

#define IKINCTRL_DISABLED -1

Definition at line 50 of file iKinInv.h.

◆ IKINCTRL_POSE_ANG

#define IKINCTRL_POSE_ANG 2

Definition at line 39 of file iKinInv.h.

◆ IKINCTRL_POSE_FULL

#define IKINCTRL_POSE_FULL 0

Definition at line 37 of file iKinInv.h.

◆ IKINCTRL_POSE_XYZ

#define IKINCTRL_POSE_XYZ 1

Definition at line 38 of file iKinInv.h.

◆ IKINCTRL_RET_EXHALT

#define IKINCTRL_RET_EXHALT 4

Definition at line 48 of file iKinInv.h.

◆ IKINCTRL_RET_MAXITER

#define IKINCTRL_RET_MAXITER 3

Definition at line 47 of file iKinInv.h.

◆ IKINCTRL_RET_TOLQ

#define IKINCTRL_RET_TOLQ 2

Definition at line 46 of file iKinInv.h.

◆ IKINCTRL_RET_TOLSIZE

#define IKINCTRL_RET_TOLSIZE 1

Definition at line 45 of file iKinInv.h.

◆ IKINCTRL_RET_TOLX

#define IKINCTRL_RET_TOLX 0

Definition at line 44 of file iKinInv.h.

◆ IKINCTRL_STATE_DEADLOCK

#define IKINCTRL_STATE_DEADLOCK 2

Definition at line 35 of file iKinInv.h.

◆ IKINCTRL_STATE_INTARGET

#define IKINCTRL_STATE_INTARGET 1

Definition at line 34 of file iKinInv.h.

◆ IKINCTRL_STATE_RUNNING

#define IKINCTRL_STATE_RUNNING 0

Definition at line 33 of file iKinInv.h.

◆ IKINCTRL_STEEP_JT

#define IKINCTRL_STEEP_JT 0

Definition at line 41 of file iKinInv.h.

◆ IKINCTRL_STEEP_PINV

#define IKINCTRL_STEEP_PINV 1

Definition at line 42 of file iKinInv.h.

Classes

Namespaces

Macros