Classes
class	BaseLinkNewtonEuler

class	FinalLinkNewtonEuler

class	iCubArmDyn

class	iCubArmNoTorsoDyn

class	iCubArmSensorLink

class	iCubLegDyn

class	iCubLegDynV2

class	iCubLegSensorLink

class	iCubLowerTorso

class	iCubNeckInertialDyn

class	iCubNeckInertialDynV2

class	iCubTorsoDyn

class	iCubUpperTorso

class	iCubWholeBody

class	iDynChain

class	iDynContactSolver

class	iDynInvSensor

class	iDynInvSensorArm

class	iDynInvSensorArmNoTorso

class	iDynInvSensorLeg

class	iDynLimb

class	iDynLink

class	iDynNode

class	iDynSensor

class	iDynSensorArm

class	iDynSensorArmNoTorso

class	iDynSensorLeg

class	iDynSensorNode

class	iDynSensorTorsoNode

class	iFrameOnLink

class	iFTransformation

class	iGenericFrame

class	OneChainNewtonEuler

class	OneLinkNewtonEuler

class	RigidBodyTransformation

class	SensorLinkNewtonEuler

struct	version_tag

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 const double	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"}

Enumeration Type Documentation

◆ ChainComputationMode

enum iCub::iDyn::ChainComputationMode

Enumerator
KINFWD_WREFWD
KINFWD_WREBWD
KINBWD_WREFWD
KINBWD_WREBWD

Definition at line 69 of file iDynInv.h.

◆ ChainIterationMode

enum iCub::iDyn::ChainIterationMode

Enumerator
FORWARD
BACKWARD

Definition at line 68 of file iDynInv.h.

◆ FlowType

enum iCub::iDyn::FlowType

Enumerator
RBT_NODE_IN
RBT_NODE_OUT

Definition at line 92 of file iDynBody.h.

◆ InteractionType

enum iCub::iDyn::InteractionType

Enumerator
RBT_BASE
RBT_ENDEFF

Definition at line 86 of file iDynBody.h.

◆ JacobType

enum iCub::iDyn::JacobType

Enumerator
JAC_KIN
JAC_IKIN

Definition at line 99 of file iDynBody.h.

◆ NewEulMode

enum iCub::iDyn::NewEulMode

Enumerator
STATIC
DYNAMIC
DYNAMIC_W_ROTOR
DYNAMIC_CORIOLIS_GRAVITY

Definition at line 64 of file iDynInv.h.

Function Documentation

◆ asForceMoment()

bool iCub::iDyn::asForceMoment	(	const yarp::sig::Vector &	w,
		yarp::sig::Vector &	f,
		yarp::sig::Vector &	m
	)

◆ asWrench() [1/2]

yarp::sig::Vector iCub::iDyn::asWrench	(	const yarp::sig::Vector &	f,
		const yarp::sig::Vector &	m
	)

◆ asWrench() [2/2]

bool iCub::iDyn::asWrench	(	yarp::sig::Vector &	w,
		const yarp::sig::Vector &	f,
		const yarp::sig::Vector &	m
	)

◆ notImplemented() [1/2]

void iCub::iDyn::notImplemented ( const unsigned int verbose )

Definition at line 54 of file iDyn.cpp.

◆ notImplemented() [2/2]

void iCub::iDyn::notImplemented	(	const unsigned int	verbose,
		const std::string &	msg
	)

Definition at line 59 of file iDyn.cpp.

◆ workInProgress()

void iCub::iDyn::workInProgress	(	const unsigned int	verbose,
		const std::string &	msg
	)

Definition at line 64 of file iDyn.cpp.

Variable Documentation

◆ ChainComputationMode_s

const std::string iCub::iDyn::ChainComputationMode_s[4] = {"Kinematic Forward - Wrench Forward","Kinematic Forward - Wrench Backward","Kinematic Backward - Wrench Forward","Kinematic Backward - Wrench Backward"}

Definition at line 71 of file iDynInv.h.

◆ ChainIterationMode_s

const std::string iCub::iDyn::ChainIterationMode_s[2] = {"Forward (Base To End)","Backward (End To Base)"}

Definition at line 70 of file iDynInv.h.

◆ NewEulMode_s

const std::string iCub::iDyn::NewEulMode_s[4] = {"static","dynamic","dynamic with motor/rotor","dynamic with only Coriolis and gravitational terms"}

Definition at line 65 of file iDynInv.h.

◆ TOLLERANCE

const double iCub::iDyn::TOLLERANCE = 10e-08

static

Definition at line 44 of file iDynContact.h.

Classes

Enumerations

Functions

Variables