MassMatrix.cpp File Reference

#include "WBToolbox/Block/MassMatrix.h"
#include "WBToolbox/Base/Configuration.h"
#include "WBToolbox/Base/RobotInterface.h"
#include <BlockFactory/Core/BlockInformation.h>
#include <BlockFactory/Core/Log.h>
#include <BlockFactory/Core/Signal.h>
#include <Eigen/Core>
#include <iDynTree/Core/EigenHelpers.h>
#include <iDynTree/Core/MatrixDynSize.h>
#include <iDynTree/KinDynComputations.h>
#include <ostream>
#include <tuple>

Include dependency graph for MassMatrix.cpp:

Classes
class	wbt::block::MassMatrix::impl

Enumerations
enum	InputIndex {   BasePose = 0, JointConfiguration, BaseVelocity, JointVelocity,   BasePose = 0, JointConfiguration, InputSignal = 0, BasePose = 0,   JointConfiguration, BaseVelocity, JointVelocity, BasePose = 0,   JointConfiguration, BasePose = 0, JointConfiguration, BaseVelocity,   JointVelocity, BaseAcceleration, JointAcceleration, BasePose = 0,   JointConfiguration, BasePose = 0, JointConfiguration, InputSignal = 0,   Hessian = 0, Gradient, Hessian = 0, Gradient,   JointConfiguration = 0, JointConfiguration = 0, References = 0, Signal = 0 }
enum	OutputIndex {   CentroidalMomentum = 0, CentroidalTotalMomentumMatrix = 0, FilteredSignal = 0, DotJNu = 0,   Transform = 0, MinLimit = 0, MaxLimit, Measurement = 0,   Torques = 0, Jacobian = 0, MassMatrix = 0, FilteredSignal = 0,   PrimalSolution = 0, Status, PrimalSolution = 0, Status,   RelativeJacobian = 0, Transform = 0, Clock = 0, Signal = 0 }

Enumeration Type Documentation

InputIndex

enum InputIndex

Enumerator
BasePose
JointConfiguration
BaseVelocity
JointVelocity
BasePose
JointConfiguration
InputSignal
BasePose
JointConfiguration
BaseVelocity
JointVelocity
BasePose
JointConfiguration
BasePose
JointConfiguration
BaseVelocity
JointVelocity
BaseAcceleration
JointAcceleration
BasePose
JointConfiguration
BasePose
JointConfiguration
InputSignal
Hessian
Gradient
Hessian
Gradient
JointConfiguration
JointConfiguration
References
Signal

OutputIndex

enum OutputIndex

Enumerator
CentroidalMomentum
CentroidalTotalMomentumMatrix
FilteredSignal
DotJNu
Transform
MinLimit
MaxLimit
Measurement
Torques
Jacobian
MassMatrix
FilteredSignal
PrimalSolution
Status
PrimalSolution
Status
RelativeJacobian
Transform
Clock
Signal