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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 |
1.9.1