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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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. 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::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.