iCub-main
Macros | Functions | Variables
iCub.cpp File Reference

This cpp creates and places all the objects that are used to make the iCub simulator robot (all parts dimensions weight and joint configurations). More...

#include <cstdio>
#include <cstring>
#include <yarp/os/Bottle.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
#include <yarp/math/Math.h>
#include <iCub/iKin/iKinFwd.h>
#include <iCub/ctrl/math.h>
#include <string>
#include <iostream>
#include <fstream>
#include <sstream>
#include "iCub.h"
#include "EyeLidsController.h"
#include "MS3D.h"
#include "xloader.h"
+ Include dependency graph for iCub.cpp:

Go to the source code of this file.

Macros

#define CTRL_DEG2RAD   M_PI/180.0
 
#define CTRL_RAD2DEG   180.0/M_PI
 
#define TOUCH_SENSOR_MAX_FORCE   100.0
 
#define FLAGIFY(flags, name)   name = flags.name?"on":"off"
 

Functions

double getTouchSensorValue (dJointFeedback *fb)
 

Variables

ModeliCubHeadModel
 
ModeltopEyeLidModel
 
ModelbottomEyeLidModel
 

Detailed Description

This cpp creates and places all the objects that are used to make the iCub simulator robot (all parts dimensions weight and joint configurations).

It also deals with the sensors feedback and setting the joint speeds

Author
Vadim Tikhanoff
Date
2007
Note
Released under GNU GPL v2.0

Definition in file iCub.cpp.

Macro Definition Documentation

◆ CTRL_DEG2RAD

#define CTRL_DEG2RAD   M_PI/180.0

Definition at line 56 of file iCub.cpp.

◆ CTRL_RAD2DEG

#define CTRL_RAD2DEG   180.0/M_PI

Definition at line 59 of file iCub.cpp.

◆ FLAGIFY

#define FLAGIFY (   flags,
  name 
)    name = flags.name?"on":"off"

Definition at line 1569 of file iCub.cpp.

◆ TOUCH_SENSOR_MAX_FORCE

#define TOUCH_SENSOR_MAX_FORCE   100.0

Definition at line 72 of file iCub.cpp.

Function Documentation

◆ getTouchSensorValue()

double getTouchSensorValue ( dJointFeedback *  fb)

Definition at line 76 of file iCub.cpp.

Variable Documentation

◆ bottomEyeLidModel

Model* bottomEyeLidModel

Definition at line 64 of file iCub.cpp.

◆ iCubHeadModel

Model* iCubHeadModel

Definition at line 62 of file iCub.cpp.

◆ topEyeLidModel

Model* topEyeLidModel

Definition at line 63 of file iCub.cpp.