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iCub-main
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Classes | |
| class | iKinLink |
| A Base class for defining a Link with standard Denavit-Hartenberg convention. More... | |
| class | iKinChain |
| A Base class for defining a Serial Link Chain. More... | |
| class | iKinLimb |
| A class for defining generic Limb. More... | |
| class | iKinLimbVersion |
| A class for defining the versions of the iCub limbs. More... | |
| class | iCubTorso |
| A class for defining the iCub Torso. More... | |
| class | iCubArm |
| A class for defining the iCub Arm. More... | |
| class | iCubFinger |
| A class for defining the iCub Finger. More... | |
| class | iCubLeg |
| A class for defining the iCub Leg. More... | |
| class | iCubEye |
| A class for defining the iCub Eye. More... | |
| class | iCubEyeNeckRef |
| A class for defining the iCub Eye with the root reference frame attached to the neck. More... | |
| class | iCubHeadCenter |
| A class for describing the kinematic of the straight line coming out from the point located between the eyes. More... | |
| class | iCubInertialSensor |
| A class for defining the Inertia Sensor Kinematics of the iCub. More... | |
| class | iCubInertialSensorWaist |
| A class for defining the Kinematics of the Inertial Sensor mounted in the iCub's Waist. More... | |
| class | CartesianHelper |
| Helper class providing useful methods to deal with Cartesian Solver options. More... | |
| class | iKinCtrl |
| Abstract class for inverting chain's kinematics. More... | |
| class | SteepCtrl |
| A class derived from iKinCtrl implementing two standard algorithms based on steepest descent qdot=-Kp*grad. More... | |
| class | VarKpSteepCtrl |
| A class derived from SteepCtrl implementing the variable gain algorithm. More... | |
| class | LMCtrl |
| A class derived from iKinCtrl implementing the Levenberg-Marquardt algorithm: More... | |
| class | LMCtrl_GPM |
| A class derived from LMCtrl implementing the Gradient Projection Method according to the paper available here. More... | |
| class | MultiRefMinJerkCtrl |
| A class derived from iKinCtrl implementing the multi-referential approach (pdf). More... | |
| class | iKinIterateCallback |
| Class for defining iteration callback. More... | |
| class | iKinLinIneqConstr |
| Class for defining Linear Inequality Constraints of the form lB <= C*q <= uB for the nonlinear problem NLP. More... | |
| class | iCubAdditionalArmConstraints |
| Class for dealing with additional iCub arm's constraints. More... | |
| class | iKinIpOptMin |
| Class for inverting chain's kinematics based on IpOpt lib. More... | |
| class | RpcProcessor |
| class | InputPort |
| class | SolverCallback |
| struct | PartDescriptor |
| class | CartesianSolver |
| Abstract class defining the core of on-line solvers. More... | |
| class | iCubArmCartesianSolver |
| Derived class which implements the on-line solver for the chain torso+arm. More... | |
| class | iCubLegCartesianSolver |
| Derived class which implements the on-line solver for the leg chain. More... | |
Functions | |
| void | notImplemented (const unsigned int verbose) |
| void iCub::iKin::notImplemented | ( | const unsigned int | verbose | ) |
Definition at line 31 of file iKinFwd.cpp.
1.9.1