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WB-Toolbox
6.0.0
ASimulinkToolboxforWholeBodyControl
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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 |
1.8.17