iCub-main
Classes | Namespaces | Enumerations | Variables
iDynInv.h File Reference
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <iCub/ctrl/math.h>
#include <iCub/iKin/iKinFwd.h>
#include <iCub/iDyn/iDyn.h>
#include <iCub/skinDynLib/common.h>
#include <deque>
#include <string>
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Classes

class  iCub::iDyn::OneLinkNewtonEuler
 A base class for computing forces and torques in a serial link chain. More...
 
class  iCub::iDyn::BaseLinkNewtonEuler
 A class for setting a virtual base link: this is useful to initialize the forward phase of Newton-Euler's method, by setting w, dw, ddp; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Newton-Euler computations. More...
 
class  iCub::iDyn::FinalLinkNewtonEuler
 A class for setting a virtual final link: this is useful to initialize the backward phase of Newton-Euler's method, by setting F, Mu; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Newton-Euler computations. More...
 
class  iCub::iDyn::SensorLinkNewtonEuler
 A class for setting a virtual sensor link. More...
 
class  iCub::iDyn::OneChainNewtonEuler
 A class for computing forces and torques in a iDynChain. More...
 
class  iCub::iDyn::iDynInvSensor
 A class for computing force/moment of a sensor placed anywhere in a kinematic chain; its position in the chain is defined wrt a certain link in the chain; this class can be useful to estimate the FT measurements of the sensor. More...
 
class  iCub::iDyn::iCubArmSensorLink
 A class for setting a virtual sensor link on the iCub arm, for the arm FT sensor. More...
 
class  iCub::iDyn::iCubLegSensorLink
 A class for setting a virtual sensor link on the iCub leg, for the leg FT sensor. More...
 
class  iCub::iDyn::iDynInvSensorArm
 A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right arm. More...
 
class  iCub::iDyn::iDynInvSensorArmNoTorso
 A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right arm. More...
 
class  iCub::iDyn::iDynInvSensorLeg
 A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right leg. More...
 
class  iCub::iDyn::iDynSensor
 A class for computing forces and torques in a iDynChain, when a force/torque sensor is placed in the middle of the kinematic chain and it is the only available sensor for measuring forces and moments; the sensor position in the chain must be set; the computation of joint forces, moments and torques is performed by an Inverse Newton-Euler method. More...
 
class  iCub::iDyn::iDynSensorArm
 A class for computing joint force/moment/torque of an iCub arm (left/right) given the FT measurements of the sensor placed in the middle of the arm. More...
 
class  iCub::iDyn::iDynSensorArmNoTorso
 A class for computing joint force/moment/torque of an iCub arm (left/right) given the FT measurements of the sensor placed in the middle of the arm. More...
 
class  iCub::iDyn::iDynSensorLeg
 A class for computing joint force/moment/torque of an iCub leg (left/right) given the FT measurements of the sensor placed in the middle of the leg. More...
 

Namespaces

 iCub
 This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
 
 iCub::iDyn
 

Enumerations

enum  iCub::iDyn::NewEulMode {
  iCub::iDyn::STATIC,
  iCub::iDyn::DYNAMIC,
  iCub::iDyn::DYNAMIC_W_ROTOR,
  iCub::iDyn::DYNAMIC_CORIOLIS_GRAVITY
}
 
enum  iCub::iDyn::ChainIterationMode {
  iCub::iDyn::FORWARD,
  iCub::iDyn::BACKWARD
}
 
enum  iCub::iDyn::ChainComputationMode {
  iCub::iDyn::KINFWD_WREFWD,
  iCub::iDyn::KINFWD_WREBWD,
  iCub::iDyn::KINBWD_WREFWD,
  iCub::iDyn::KINBWD_WREBWD
}
 

Variables

const std::string iCub::iDyn::NewEulMode_s [4] = {"static","dynamic","dynamic with motor/rotor","dynamic with only Coriolis and gravitational terms"}
 
const std::string iCub::iDyn::ChainIterationMode_s [2] = {"Forward (Base To End)","Backward (End To Base)"}
 
const std::string iCub::iDyn::ChainComputationMode_s [4] = {"Kinematic Forward - Wrench Forward","Kinematic Forward - Wrench Backward","Kinematic Backward - Wrench Forward","Kinematic Backward - Wrench Backward"}