WB-Toolbox
6.0.1
A Simulink Toolbox for Whole Body Control
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#include "WBToolbox/Block/InverseDynamics.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/EigenHelpers.h>
#include <iDynTree/VectorDynSize.h>
#include <iDynTree/VectorFixSize.h>
#include <iDynTree/Wrench.h>
#include <iDynTree/KinDynComputations.h>
#include <iDynTree/FreeFloatingState.h>
#include <iDynTree/JointState.h>
#include <iDynTree/LinkState.h>
#include <memory>
#include <ostream>
#include <tuple>
Classes | |
class | wbt::block::InverseDynamics::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 } |
enum InputIndex |
enum OutputIndex |