Classes
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	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	iCubArmSensorLink
	A class for setting a virtual sensor link on the iCub arm, for the arm FT sensor. 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	iCubLegSensorLink
	A class for setting a virtual sensor link on the iCub leg, for the leg FT 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	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...

class	iCubTorsoDyn
	A class for defining the 3-DOF iCub Torso in the iDyn framework. 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	iCubWholeBody
	A class for connecting UpperTorso and LowerTorso of the iCub, then getting the WholeBody in the dynamic framework. More...

class	iDynChain
	A Base class for defining a Serial Link Chain, using dynamics and kinematics. 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	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	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	iDynLimb
	A class for defining a generic Limb within the iDyn framework. More...

class	iDynLink
	A base class for defining a Link with standard Denavit-Hartenberg convention, providing kinematic and dynamic information. More...

class	iDynNode
	A class for connecting two or mutiple limbs and exchanging kinematic and wrench information between limbs. 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	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	iFrameOnLink
	A Base class for defining the FT sensor over a generic link of a kinematic chain inherited by iKinLimb. More...

class	iFTransformation

class	iGenericFrame
	A Base class for defining the Transformation of a Wrench from a frame to another. More...

class	OneChainNewtonEuler
	A class for computing forces and torques in a iDynChain. More...

class	OneLinkNewtonEuler
	A base class for computing forces and torques in a serial link chain. More...

class	RigidBodyTransformation
	A class for setting a rigid body transformation between iDynLimb and iDynNode. More...

class	SensorLinkNewtonEuler
	A class for setting a virtual sensor link. More...

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 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"}

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

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

static

Definition at line 44 of file iDynContact.h.

Classes

Enumerations

Functions

Variables