iCub-main
Classes | Namespaces | Macros
iKinInv.h File Reference
#include <yarp/os/Property.h>
#include <iCub/ctrl/minJerkCtrl.h>
#include <iCub/ctrl/pids.h>
#include <iCub/iKin/iKinFwd.h>
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Go to the source code of this file.

Classes

class  iCub::iKin::iKinCtrl
 
class  iCub::iKin::SteepCtrl
 
class  iCub::iKin::VarKpSteepCtrl
 
class  iCub::iKin::LMCtrl
 
class  iCub::iKin::LMCtrl_GPM
 
class  iCub::iKin::MultiRefMinJerkCtrl
 

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.