iCub-main
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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"} |
enum iCub::iDyn::FlowType |
Enumerator | |
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RBT_NODE_IN | |
RBT_NODE_OUT |
Definition at line 92 of file iDynBody.h.
Enumerator | |
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RBT_BASE | |
RBT_ENDEFF |
Definition at line 86 of file iDynBody.h.
Enumerator | |
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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.