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iCub-main
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Classes | |
| class | iDynLink |
| A base class for defining a Link with standard Denavit-Hartenberg convention, providing kinematic and dynamic information. More... | |
| class | iDynChain |
| A Base class for defining a Serial Link Chain, using dynamics and kinematics. More... | |
| class | iDynLimb |
| A class for defining a generic Limb within the iDyn framework. More... | |
| class | iCubArmDyn |
| A class for defining the 7-DOF iCub Arm in the iDyn framework. More... | |
| class | iCubArmNoTorsoDyn |
| A class for defining the 7-DOF iCub Arm in the iDyn framework. More... | |
| class | iCubTorsoDyn |
| A class for defining the 3-DOF iCub Torso in the iDyn framework. More... | |
| class | iCubLegDyn |
| A class for defining the 6-DOF iCub Leg. More... | |
| class | iCubLegDynV2 |
| A class for defining the 6-DOF iCub Leg. More... | |
| class | iCubNeckInertialDyn |
| A class for defining the 3-DOF Inertia Sensor Kinematics. More... | |
| class | iCubNeckInertialDynV2 |
| A class for defining the 3-DOF Inertia Sensor Kinematics (V2 HEAD) More... | |
| struct | version_tag |
| class | RigidBodyTransformation |
| A class for setting a rigid body transformation between iDynLimb and iDynNode. More... | |
| class | iDynNode |
| A class for connecting two or mutiple limbs and exchanging kinematic and wrench information between limbs. More... | |
| class | iDynSensorNode |
| A class for connecting two or mutiple limbs and exchanging kinematic and wrench information between limbs, when one or multiple limbs have FT sensors. More... | |
| class | iDynSensorTorsoNode |
| A class for connecting a central-up limb, a left and right limb of the iCub, and exchanging kinematic and wrench information between limbs, when both left/right limb have FT sensors and the central-up one use the kinematic and wrench information coming from a inertial measurements or another iDynSensorNode. More... | |
| class | iCubUpperTorso |
| A class for connecting head, left and right arm of the iCub, and exchanging kinematic and wrench information between limbs, when both arms have FT sensors and the head use the inertial sensor. More... | |
| class | iCubLowerTorso |
| A class for connecting torso, left and right leg of the iCub, and exchanging kinematic and wrench information between limbs, when both legs have FT sensors and the torso use the kinematic and wrench information coming from UpperTorso. More... | |
| class | iCubWholeBody |
| A class for connecting UpperTorso and LowerTorso of the iCub, then getting the WholeBody in the dynamic framework. More... | |
| class | iDynContactSolver |
| This solver uses a modified version of the Newton-Euler algorithm to estimate both the external and internal forces/moments of a single kinematic chain. More... | |
| class | OneLinkNewtonEuler |
| A base class for computing forces and torques in a serial link chain. More... | |
| class | BaseLinkNewtonEuler |
| A class for setting a virtual base link: this is useful to initialize the forward phase of Newton-Euler's method, by setting w, dw, ddp; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Newton-Euler computations. More... | |
| class | FinalLinkNewtonEuler |
| A class for setting a virtual final link: this is useful to initialize the backward phase of Newton-Euler's method, by setting F, Mu; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Newton-Euler computations. More... | |
| class | SensorLinkNewtonEuler |
| A class for setting a virtual sensor link. More... | |
| class | OneChainNewtonEuler |
| A class for computing forces and torques in a iDynChain. More... | |
| class | iDynInvSensor |
| A class for computing force/moment of a sensor placed anywhere in a kinematic chain; its position in the chain is defined wrt a certain link in the chain; this class can be useful to estimate the FT measurements of the sensor. More... | |
| class | iCubArmSensorLink |
| A class for setting a virtual sensor link on the iCub arm, for the arm FT sensor. More... | |
| class | iCubLegSensorLink |
| A class for setting a virtual sensor link on the iCub leg, for the leg FT sensor. More... | |
| class | iDynInvSensorArm |
| A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right arm. More... | |
| class | iDynInvSensorArmNoTorso |
| A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right arm. More... | |
| class | iDynInvSensorLeg |
| A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right leg. More... | |
| class | iDynSensor |
| A class for computing forces and torques in a iDynChain, when a force/torque sensor is placed in the middle of the kinematic chain and it is the only available sensor for measuring forces and moments; the sensor position in the chain must be set; the computation of joint forces, moments and torques is performed by an Inverse Newton-Euler method. More... | |
| class | iDynSensorArm |
| A class for computing joint force/moment/torque of an iCub arm (left/right) given the FT measurements of the sensor placed in the middle of the arm. More... | |
| class | iDynSensorArmNoTorso |
| A class for computing joint force/moment/torque of an iCub arm (left/right) given the FT measurements of the sensor placed in the middle of the arm. More... | |
| class | iDynSensorLeg |
| A class for computing joint force/moment/torque of an iCub leg (left/right) given the FT measurements of the sensor placed in the middle of the leg. More... | |
| class | iGenericFrame |
| A Base class for defining the Transformation of a Wrench from a frame to another. More... | |
| class | iFrameOnLink |
| A Base class for defining the FT sensor over a generic link of a kinematic chain inherited by iKinLimb. More... | |
| class | iFTransformation |
Enumerations | |
| enum | InteractionType { RBT_BASE , RBT_ENDEFF } |
| enum | FlowType { RBT_NODE_IN , RBT_NODE_OUT } |
| enum | JacobType { JAC_KIN , JAC_IKIN } |
| enum | NewEulMode { STATIC , DYNAMIC , DYNAMIC_W_ROTOR , DYNAMIC_CORIOLIS_GRAVITY } |
| enum | ChainIterationMode { FORWARD , BACKWARD } |
| enum | ChainComputationMode { KINFWD_WREFWD , KINFWD_WREBWD , KINBWD_WREFWD , KINBWD_WREBWD } |
Functions | |
| void | notImplemented (const unsigned int verbose) |
| void | notImplemented (const unsigned int verbose, const std::string &msg) |
| void | workInProgress (const unsigned int verbose, const std::string &msg) |
| bool | asWrench (yarp::sig::Vector &w, const yarp::sig::Vector &f, const yarp::sig::Vector &m) |
| yarp::sig::Vector | asWrench (const yarp::sig::Vector &f, const yarp::sig::Vector &m) |
| bool | asForceMoment (const yarp::sig::Vector &w, yarp::sig::Vector &f, yarp::sig::Vector &m) |
Variables | |
| static double const | TOLLERANCE = 10e-08 |
| const std::string | NewEulMode_s [4] = {"static","dynamic","dynamic with motor/rotor","dynamic with only Coriolis and gravitational terms"} |
| const std::string | ChainIterationMode_s [2] = {"Forward (Base To End)","Backward (End To Base)"} |
| const std::string | ChainComputationMode_s [4] = {"Kinematic Forward - Wrench Forward","Kinematic Forward - Wrench Backward","Kinematic Backward - Wrench Forward","Kinematic Backward - Wrench Backward"} |
| enum iCub::iDyn::FlowType |
| Enumerator | |
|---|---|
| RBT_NODE_IN | |
| RBT_NODE_OUT | |
Definition at line 92 of file iDynBody.h.
| Enumerator | |
|---|---|
| RBT_BASE | |
| RBT_ENDEFF | |
Definition at line 86 of file iDynBody.h.
| Enumerator | |
|---|---|
| JAC_KIN | |
| JAC_IKIN | |
Definition at line 99 of file iDynBody.h.
| bool iCub::iDyn::asForceMoment | ( | const yarp::sig::Vector & | w, |
| yarp::sig::Vector & | f, | ||
| yarp::sig::Vector & | m | ||
| ) |
| yarp::sig::Vector iCub::iDyn::asWrench | ( | const yarp::sig::Vector & | f, |
| const yarp::sig::Vector & | m | ||
| ) |
| bool iCub::iDyn::asWrench | ( | yarp::sig::Vector & | w, |
| const yarp::sig::Vector & | f, | ||
| const yarp::sig::Vector & | m | ||
| ) |
| 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 | ||
| ) |
| const std::string iCub::iDyn::ChainComputationMode_s[4] = {"Kinematic Forward - Wrench Forward","Kinematic Forward - Wrench Backward","Kinematic Backward - Wrench Forward","Kinematic Backward - Wrench Backward"} |
| const std::string iCub::iDyn::ChainIterationMode_s[2] = {"Forward (Base To End)","Backward (End To Base)"} |
| const std::string iCub::iDyn::NewEulMode_s[4] = {"static","dynamic","dynamic with motor/rotor","dynamic with only Coriolis and gravitational terms"} |
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static |
Definition at line 44 of file iDynContact.h.
1.9.1