iCub-main
Classes | Enumerations | Functions | Variables
iCub::iDyn Namespace Reference

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

Enumerator
KINFWD_WREFWD 
KINFWD_WREBWD 
KINBWD_WREFWD 
KINBWD_WREBWD 

Definition at line 69 of file iDynInv.h.

◆ ChainIterationMode

Enumerator
FORWARD 
BACKWARD 

Definition at line 68 of file iDynInv.h.

◆ FlowType

Enumerator
RBT_NODE_IN 
RBT_NODE_OUT 

Definition at line 92 of file iDynBody.h.

◆ InteractionType

Enumerator
RBT_BASE 
RBT_ENDEFF 

Definition at line 86 of file iDynBody.h.

◆ JacobType

Enumerator
JAC_KIN 
JAC_IKIN 

Definition at line 99 of file iDynBody.h.

◆ 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.