iCub-main
Classes | Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | List of all members
ICubSim Class Reference

#include <iCub.h>

+ Inheritance diagram for ICubSim:

Classes

class  iCubCovers
 

Public Member Functions

 ICubSim (dWorldID world, dSpaceID space, dReal X, dReal Y, dReal Z, RobotConfig &config)
 
 ~ICubSim ()
 
void resetSpeeds ()
 
void setJointControlAction ()
 Set the control action for all the joints, that can be either a velocity command or a torque command, depending on the current control mode. More...
 
bool checkTouchSensor (int bodyToCheck)
 
bool checkTouchSensor (dBodyID id)
 
double checkTouchSensor_continuousValued (int bodyToCheck)
 
double checkTouchSensor_continuousValued (dBodyID id)
 
void draw ()
 
void getSkinAndBodyPartFromSpaceAndGeomID (const dSpaceID geomSpaceID, const dGeomID geomID, SkinPart &skinPart, BodyPart &bodyPart, HandPart &handPart, bool &skinCoverFlag, bool &fingertipFlag)
 
- Public Member Functions inherited from ICubData
 ICubData ()
 

Static Public Member Functions

static void printPositionOfGeom (dGeomID geomID)
 
static void printPositionOfBody (dBodyID bodyID)
 

Public Attributes

EyeLidseyeLids
 
string actElevation
 
string actStartHomePos
 
string actLegs
 
string actTorso
 
string actLArm
 
string actRArm
 
string actLHand
 
string actRHand
 
string actHead
 
string actfixedHip
 
string actVision
 
string actHeadCover
 
string actWorld
 
string actPressure
 
string actScreen
 
string actLegsCovers
 
string actLeftArmCovers
 
string actRightArmCovers
 
string actTorsoCovers
 
string actSelfCol
 
string actCoversCol
 
string actSkinEmul
 
double elev
 
dGeomID screenGeom
 
bool reinitialized
 
float eyeLidRot
 
string eyeLidsPortName
 
dSpaceID iCub
 
dSpaceID iCubHeadSpace
 
dSpaceID iCubTorsoSpace
 
dSpaceID iCubLeftArmSpace
 
dSpaceID iCubRightArmSpace
 
dSpaceID iCubLegsSpace
 
std::map< dSpaceID, string > dSpaceNames
 
std::map< dGeomID, string > dGeomNames
 
dGeomID geom_cube [1]
 
dBodyID inertialBody
 
dGeomID inertialGeom
 
dBodyID iCubHead
 
dGeomID iCubHeadGeom
 
dBodyID leftLeg [20]
 
dGeomID leftLegGeom [20]
 
dGeomID leftLeg_2_1
 
dGeomID leftLeg_2_2
 
dGeomID leftLeg_3_1
 
dGeomID leftLeg_3_2
 
dGeomID leftLeg_4_1
 
dGeomID leftLeg_4_2
 
dBodyID rightLeg [20]
 
dGeomID rightLegGeom [20]
 
dGeomID rightLeg_2_1
 
dGeomID rightLeg_2_2
 
dGeomID rightLeg_3_1
 
dGeomID rightLeg_3_2
 
dGeomID rightLeg_4_1
 
dGeomID rightLeg_4_2
 
dBodyID torso [9]
 
dGeomID torsoGeom [9]
 
dBodyID body [50]
 
dGeomID geom [50]
 
dBodyID neck [2]
 
dGeomID neckgeom [2]
 
dGeomID lhandfings0_geom
 
dGeomID lhandfings1_geom
 
dBodyID lhandfingers0
 
dGeomID lhandfings2_geom
 
dGeomID lhandfings3_geom
 
dBodyID lhandfingers1
 
dGeomID lhandfings4_geom
 
dGeomID lhandfings5_geom
 
dBodyID lhandfingers2
 
dGeomID lhandfings6_geom
 
dGeomID lhandfings7_geom
 
dBodyID lhandfingers3
 
dGeomID rhandfings0_geom
 
dGeomID rhandfings1_geom
 
dBodyID rhandfingers0
 
dGeomID rhandfings2_geom
 
dGeomID rhandfings3_geom
 
dBodyID rhandfingers1
 
dGeomID rhandfings4_geom
 
dGeomID rhandfings5_geom
 
dBodyID rhandfingers2
 
dGeomID rhandfings6_geom
 
dGeomID rhandfings7_geom
 
dBodyID rhandfingers3
 
dGeomID l_leg0_geom
 
dGeomID l_leg1_geom
 
dGeomID l_leg2_geom
 
dGeomID l_leg3_geom
 
dGeomID l_leg4_geom
 
dGeomID l_leg5_geom
 
dGeomID l_leg6_geom
 
dGeomID l_leg7_geom
 
dGeomID l_leg8_geom
 
dGeomID r_leg0_geom
 
dGeomID r_leg1_geom
 
dGeomID r_leg2_geom
 
dGeomID r_leg3_geom
 
dGeomID r_leg4_geom
 
dGeomID r_leg5_geom
 
dGeomID r_leg6_geom
 
dGeomID r_leg7_geom
 
dGeomID r_leg8_geom
 
dBodyID legs
 
dGeomID torso0_geom
 
dGeomID torso1_geom
 
dGeomID torso1b_geom
 
dGeomID torso2_geom
 
dGeomID torso3_geom
 
dGeomID torso4_geom
 
dGeomID torso5_geom
 
dBodyID body_torso
 
dGeomID larm0_geom
 
dGeomID larm1_geom
 
dGeomID larm2_geom
 
dGeomID larm3_geom
 
dGeomID larm4_geom
 
dGeomID larm5_geom
 
dBodyID larm
 
dGeomID rarm0_geom
 
dGeomID rarm1_geom
 
dGeomID rarm2_geom
 
dGeomID rarm3_geom
 
dGeomID rarm4_geom
 
dGeomID rarm5_geom
 
dBodyID rarm
 
dGeomID l_hand0_geom
 
dGeomID l_hand1_geom
 
dGeomID l_hand2_geom
 
dGeomID l_hand3_geom
 
dGeomID l_hand4_geom
 
dGeomID l_hand5_geom
 
dGeomID r_hand0_geom
 
dGeomID r_hand1_geom
 
dGeomID r_hand2_geom
 
dGeomID r_hand3_geom
 
dGeomID r_hand4_geom
 
dGeomID r_hand5_geom
 
dBodyID l_hand
 
dBodyID r_hand
 
dGeomID head0_geom
 
dGeomID head1_geom
 
dGeomID head2_geom
 
dGeomID head3_geom
 
dGeomID head4_geom
 
dGeomID head5_geom
 
dGeomID head6_geom
 
dGeomID head7_geom
 
dGeomID head8_geom
 
dGeomID neck0_geom
 
dGeomID neck1_geom
 
dBodyID head
 
dGeomID eye1
 
dGeomID eye2
 
dGeomID eye3
 
dGeomID eye4
 
dGeomID eye5
 
dGeomID eye1_geom
 
dGeomID eye2_geom
 
dGeomID eye3_geom
 
dGeomID eye4_geom
 
dGeomID eye5_geom
 
dBodyID eye
 
dGeomID List1_L_E
 
dGeomID List2_L_E
 
dGeomID Leye1_geom
 
dGeomID Leye2_geom
 
dBodyID leye
 
dGeomID List1_R_E
 
dGeomID List2_R_E
 
dGeomID Reye1_geom
 
dGeomID Reye2_geom
 
dBodyID reye
 
dGeomID topEyeLid_geom
 
dGeomID bottomEyeLid_geom
 
dBodyID topEyeLid
 
dBodyID bottomEyeLid
 
dJointID elevJoint
 
dJointID LLegjoints [20]
 
dJointID RLegjoints [20]
 
dJointID Torsojoints [8]
 
dJointID LAjoints [25]
 
dJointID RAjoints [25]
 
dJointID Hjoints [6]
 
dJointID inertialJoint
 
dJointID grab
 
dJointID grab1
 
dJointID fixedHipJoint
 
dReal LLeg_speed [20]
 
dReal RLeg_speed [20]
 
dReal Torso_speed [8]
 
dReal la_speed [25]
 
dReal la_speed1 [25]
 
dReal ra_speed [25]
 
dReal ra_speed1 [25]
 
dReal h_speed [25]
 
dReal LLeg_torques [20]
 
dReal RLeg_torques [20]
 
dReal Torso_torques [8]
 
dReal la_torques [25]
 
dReal ra_torques [25]
 
dReal h_torques [25]
 
map< string, string > model
 
string textureName [100]
 
map< string, dTriMeshDataID > model_TriData
 
map< string, dTriMeshXmodel_trimesh
 
int modelTexture [100]
 
int modelTextureIndex
 
int numCovers
 
double torqueData [100]
 
map< string, iCubCoversmodel_ThreeD_obj
 
Vector jP_torso [3]
 
Vector jP_leftArm [8]
 
Vector jP_rightArm [8]
 
Vector jP_head [4]
 
Vector jP_leftEye [2]
 
Vector jP_rightEye [2]
 
Vector jP_leftLeg [6]
 
Vector jP_rightLeg [6]
 
Vector jP_inertial
 
Vector jA_torso [3]
 
Vector jA_leftArm [8]
 
Vector jA_rightArm [8]
 
iCub::iKin::iCubArm iKinLeftArm
 
iCub::iKin::iCubArm iKinRightArm
 
iCub::iKin::iCubInertialSensor iKinInertialSensor
 
Bottle emptySkinActivationHand
 
Bottle emptySkinActivationForearm
 
Bottle emptySkinActivationUpperArm
 
Bottle emptySkinActivationTorso
 
Bottle fullSkinActivationForearm
 
Bottle fullSkinActivationUpperArm
 
Bottle fullSkinActivationTorso
 
Matrix H_r2w
 
Matrix H_w2r
 
- Public Attributes inherited from ICubData
string configPath
 

Static Public Attributes

static const bool textured = true
 

Detailed Description

Definition at line 75 of file iCub.h.

Constructor & Destructor Documentation

◆ ICubSim()

ICubSim::ICubSim ( dWorldID  world,
dSpaceID  space,
dReal  X,
dReal  Y,
dReal  Z,
RobotConfig config 
)

Definition at line 4188 of file iCub.cpp.

◆ ~ICubSim()

ICubSim::~ICubSim ( )

Definition at line 4085 of file iCub.cpp.

Member Function Documentation

◆ checkTouchSensor() [1/2]

bool ICubSim::checkTouchSensor ( int  bodyToCheck)

Definition at line 140 of file iCub.cpp.

◆ checkTouchSensor() [2/2]

bool ICubSim::checkTouchSensor ( dBodyID  id)

Definition at line 131 of file iCub.cpp.

◆ checkTouchSensor_continuousValued() [1/2]

double ICubSim::checkTouchSensor_continuousValued ( int  bodyToCheck)

Definition at line 106 of file iCub.cpp.

◆ checkTouchSensor_continuousValued() [2/2]

double ICubSim::checkTouchSensor_continuousValued ( dBodyID  id)

Definition at line 90 of file iCub.cpp.

◆ draw()

void ICubSim::draw ( )

Definition at line 316 of file iCub.cpp.

◆ getSkinAndBodyPartFromSpaceAndGeomID()

void ICubSim::getSkinAndBodyPartFromSpaceAndGeomID ( const dSpaceID  geomSpaceID,
const dGeomID  geomID,
SkinPart skinPart,
BodyPart bodyPart,
HandPart handPart,
bool &  skinCoverFlag,
bool &  fingertipFlag 
)

Definition at line 4213 of file iCub.cpp.

◆ printPositionOfBody()

void ICubSim::printPositionOfBody ( dBodyID  bodyID)
static

Definition at line 4204 of file iCub.cpp.

◆ printPositionOfGeom()

void ICubSim::printPositionOfGeom ( dGeomID  geomID)
static

Definition at line 4198 of file iCub.cpp.

◆ resetSpeeds()

void ICubSim::resetSpeeds ( )

Definition at line 164 of file iCub.cpp.

◆ setJointControlAction()

void ICubSim::setJointControlAction ( )

Set the control action for all the joints, that can be either a velocity command or a torque command, depending on the current control mode.

Definition at line 190 of file iCub.cpp.

Member Data Documentation

◆ actCoversCol

string ICubSim::actCoversCol

Definition at line 80 of file iCub.h.

◆ actElevation

string ICubSim::actElevation

Definition at line 80 of file iCub.h.

◆ actfixedHip

string ICubSim::actfixedHip

Definition at line 80 of file iCub.h.

◆ actHead

string ICubSim::actHead

Definition at line 80 of file iCub.h.

◆ actHeadCover

string ICubSim::actHeadCover

Definition at line 80 of file iCub.h.

◆ actLArm

string ICubSim::actLArm

Definition at line 80 of file iCub.h.

◆ actLeftArmCovers

string ICubSim::actLeftArmCovers

Definition at line 80 of file iCub.h.

◆ actLegs

string ICubSim::actLegs

Definition at line 80 of file iCub.h.

◆ actLegsCovers

string ICubSim::actLegsCovers

Definition at line 80 of file iCub.h.

◆ actLHand

string ICubSim::actLHand

Definition at line 80 of file iCub.h.

◆ actPressure

string ICubSim::actPressure

Definition at line 80 of file iCub.h.

◆ actRArm

string ICubSim::actRArm

Definition at line 80 of file iCub.h.

◆ actRHand

string ICubSim::actRHand

Definition at line 80 of file iCub.h.

◆ actRightArmCovers

string ICubSim::actRightArmCovers

Definition at line 80 of file iCub.h.

◆ actScreen

string ICubSim::actScreen

Definition at line 80 of file iCub.h.

◆ actSelfCol

string ICubSim::actSelfCol

Definition at line 80 of file iCub.h.

◆ actSkinEmul

string ICubSim::actSkinEmul

Definition at line 80 of file iCub.h.

◆ actStartHomePos

string ICubSim::actStartHomePos

Definition at line 80 of file iCub.h.

◆ actTorso

string ICubSim::actTorso

Definition at line 80 of file iCub.h.

◆ actTorsoCovers

string ICubSim::actTorsoCovers

Definition at line 80 of file iCub.h.

◆ actVision

string ICubSim::actVision

Definition at line 80 of file iCub.h.

◆ actWorld

string ICubSim::actWorld

Definition at line 80 of file iCub.h.

◆ body

dBodyID ICubSim::body[50]

Definition at line 117 of file iCub.h.

◆ body_torso

dBodyID ICubSim::body_torso

Definition at line 153 of file iCub.h.

◆ bottomEyeLid

dBodyID ICubSim::bottomEyeLid

Definition at line 189 of file iCub.h.

◆ bottomEyeLid_geom

dGeomID ICubSim::bottomEyeLid_geom

Definition at line 187 of file iCub.h.

◆ dGeomNames

std::map<dGeomID, string> ICubSim::dGeomNames

Definition at line 92 of file iCub.h.

◆ dSpaceNames

std::map<dSpaceID, string> ICubSim::dSpaceNames

Definition at line 91 of file iCub.h.

◆ elev

double ICubSim::elev

Definition at line 81 of file iCub.h.

◆ elevJoint

dJointID ICubSim::elevJoint

Definition at line 192 of file iCub.h.

◆ emptySkinActivationForearm

Bottle ICubSim::emptySkinActivationForearm

Definition at line 276 of file iCub.h.

◆ emptySkinActivationHand

Bottle ICubSim::emptySkinActivationHand

Definition at line 275 of file iCub.h.

◆ emptySkinActivationTorso

Bottle ICubSim::emptySkinActivationTorso

Definition at line 278 of file iCub.h.

◆ emptySkinActivationUpperArm

Bottle ICubSim::emptySkinActivationUpperArm

Definition at line 277 of file iCub.h.

◆ eye

dBodyID ICubSim::eye

Definition at line 173 of file iCub.h.

◆ eye1

dGeomID ICubSim::eye1

Definition at line 171 of file iCub.h.

◆ eye1_geom

dGeomID ICubSim::eye1_geom

Definition at line 172 of file iCub.h.

◆ eye2

dGeomID ICubSim::eye2

Definition at line 171 of file iCub.h.

◆ eye2_geom

dGeomID ICubSim::eye2_geom

Definition at line 172 of file iCub.h.

◆ eye3

dGeomID ICubSim::eye3

Definition at line 171 of file iCub.h.

◆ eye3_geom

dGeomID ICubSim::eye3_geom

Definition at line 172 of file iCub.h.

◆ eye4

dGeomID ICubSim::eye4

Definition at line 171 of file iCub.h.

◆ eye4_geom

dGeomID ICubSim::eye4_geom

Definition at line 172 of file iCub.h.

◆ eye5

dGeomID ICubSim::eye5

Definition at line 171 of file iCub.h.

◆ eye5_geom

dGeomID ICubSim::eye5_geom

Definition at line 172 of file iCub.h.

◆ eyeLidRot

float ICubSim::eyeLidRot

Definition at line 85 of file iCub.h.

◆ eyeLids

EyeLids* ICubSim::eyeLids

Definition at line 78 of file iCub.h.

◆ eyeLidsPortName

string ICubSim::eyeLidsPortName

Definition at line 86 of file iCub.h.

◆ fixedHipJoint

dJointID ICubSim::fixedHipJoint

Definition at line 208 of file iCub.h.

◆ fullSkinActivationForearm

Bottle ICubSim::fullSkinActivationForearm

Definition at line 279 of file iCub.h.

◆ fullSkinActivationTorso

Bottle ICubSim::fullSkinActivationTorso

Definition at line 281 of file iCub.h.

◆ fullSkinActivationUpperArm

Bottle ICubSim::fullSkinActivationUpperArm

Definition at line 280 of file iCub.h.

◆ geom

dGeomID ICubSim::geom[50]

Definition at line 118 of file iCub.h.

◆ geom_cube

dGeomID ICubSim::geom_cube[1]

Definition at line 94 of file iCub.h.

◆ grab

dJointID ICubSim::grab

Definition at line 205 of file iCub.h.

◆ grab1

dJointID ICubSim::grab1

Definition at line 206 of file iCub.h.

◆ H_r2w

Matrix ICubSim::H_r2w

Definition at line 284 of file iCub.h.

◆ h_speed

dReal ICubSim::h_speed[25]

Definition at line 218 of file iCub.h.

◆ h_torques

dReal ICubSim::h_torques[25]

Definition at line 226 of file iCub.h.

◆ H_w2r

Matrix ICubSim::H_w2r

Definition at line 284 of file iCub.h.

◆ head

dBodyID ICubSim::head

Definition at line 168 of file iCub.h.

◆ head0_geom

dGeomID ICubSim::head0_geom

Definition at line 166 of file iCub.h.

◆ head1_geom

dGeomID ICubSim::head1_geom

Definition at line 166 of file iCub.h.

◆ head2_geom

dGeomID ICubSim::head2_geom

Definition at line 166 of file iCub.h.

◆ head3_geom

dGeomID ICubSim::head3_geom

Definition at line 166 of file iCub.h.

◆ head4_geom

dGeomID ICubSim::head4_geom

Definition at line 166 of file iCub.h.

◆ head5_geom

dGeomID ICubSim::head5_geom

Definition at line 166 of file iCub.h.

◆ head6_geom

dGeomID ICubSim::head6_geom

Definition at line 166 of file iCub.h.

◆ head7_geom

dGeomID ICubSim::head7_geom

Definition at line 166 of file iCub.h.

◆ head8_geom

dGeomID ICubSim::head8_geom

Definition at line 166 of file iCub.h.

◆ Hjoints

dJointID ICubSim::Hjoints[6]

Definition at line 201 of file iCub.h.

◆ iCub

dSpaceID ICubSim::iCub

Definition at line 88 of file iCub.h.

◆ iCubHead

dBodyID ICubSim::iCubHead

Definition at line 98 of file iCub.h.

◆ iCubHeadGeom

dGeomID ICubSim::iCubHeadGeom

Definition at line 99 of file iCub.h.

◆ iCubHeadSpace

dSpaceID ICubSim::iCubHeadSpace

Definition at line 89 of file iCub.h.

◆ iCubLeftArmSpace

dSpaceID ICubSim::iCubLeftArmSpace

Definition at line 89 of file iCub.h.

◆ iCubLegsSpace

dSpaceID ICubSim::iCubLegsSpace

Definition at line 89 of file iCub.h.

◆ iCubRightArmSpace

dSpaceID ICubSim::iCubRightArmSpace

Definition at line 89 of file iCub.h.

◆ iCubTorsoSpace

dSpaceID ICubSim::iCubTorsoSpace

Definition at line 89 of file iCub.h.

◆ iKinInertialSensor

iCub::iKin::iCubInertialSensor ICubSim::iKinInertialSensor

Definition at line 272 of file iCub.h.

◆ iKinLeftArm

iCub::iKin::iCubArm ICubSim::iKinLeftArm

Definition at line 271 of file iCub.h.

◆ iKinRightArm

iCub::iKin::iCubArm ICubSim::iKinRightArm

Definition at line 271 of file iCub.h.

◆ inertialBody

dBodyID ICubSim::inertialBody

Definition at line 96 of file iCub.h.

◆ inertialGeom

dGeomID ICubSim::inertialGeom

Definition at line 97 of file iCub.h.

◆ inertialJoint

dJointID ICubSim::inertialJoint

Definition at line 202 of file iCub.h.

◆ jA_leftArm

Vector ICubSim::jA_leftArm[8]

Definition at line 267 of file iCub.h.

◆ jA_rightArm

Vector ICubSim::jA_rightArm[8]

Definition at line 268 of file iCub.h.

◆ jA_torso

Vector ICubSim::jA_torso[3]

Definition at line 266 of file iCub.h.

◆ jP_head

Vector ICubSim::jP_head[4]

Definition at line 259 of file iCub.h.

◆ jP_inertial

Vector ICubSim::jP_inertial

Definition at line 264 of file iCub.h.

◆ jP_leftArm

Vector ICubSim::jP_leftArm[8]

Definition at line 257 of file iCub.h.

◆ jP_leftEye

Vector ICubSim::jP_leftEye[2]

Definition at line 260 of file iCub.h.

◆ jP_leftLeg

Vector ICubSim::jP_leftLeg[6]

Definition at line 262 of file iCub.h.

◆ jP_rightArm

Vector ICubSim::jP_rightArm[8]

Definition at line 258 of file iCub.h.

◆ jP_rightEye

Vector ICubSim::jP_rightEye[2]

Definition at line 261 of file iCub.h.

◆ jP_rightLeg

Vector ICubSim::jP_rightLeg[6]

Definition at line 263 of file iCub.h.

◆ jP_torso

Vector ICubSim::jP_torso[3]

Definition at line 256 of file iCub.h.

◆ l_hand

dBodyID ICubSim::l_hand

Definition at line 163 of file iCub.h.

◆ l_hand0_geom

dGeomID ICubSim::l_hand0_geom

Definition at line 161 of file iCub.h.

◆ l_hand1_geom

dGeomID ICubSim::l_hand1_geom

Definition at line 161 of file iCub.h.

◆ l_hand2_geom

dGeomID ICubSim::l_hand2_geom

Definition at line 161 of file iCub.h.

◆ l_hand3_geom

dGeomID ICubSim::l_hand3_geom

Definition at line 161 of file iCub.h.

◆ l_hand4_geom

dGeomID ICubSim::l_hand4_geom

Definition at line 161 of file iCub.h.

◆ l_hand5_geom

dGeomID ICubSim::l_hand5_geom

Definition at line 161 of file iCub.h.

◆ l_leg0_geom

dGeomID ICubSim::l_leg0_geom

Definition at line 148 of file iCub.h.

◆ l_leg1_geom

dGeomID ICubSim::l_leg1_geom

Definition at line 148 of file iCub.h.

◆ l_leg2_geom

dGeomID ICubSim::l_leg2_geom

Definition at line 148 of file iCub.h.

◆ l_leg3_geom

dGeomID ICubSim::l_leg3_geom

Definition at line 148 of file iCub.h.

◆ l_leg4_geom

dGeomID ICubSim::l_leg4_geom

Definition at line 148 of file iCub.h.

◆ l_leg5_geom

dGeomID ICubSim::l_leg5_geom

Definition at line 148 of file iCub.h.

◆ l_leg6_geom

dGeomID ICubSim::l_leg6_geom

Definition at line 148 of file iCub.h.

◆ l_leg7_geom

dGeomID ICubSim::l_leg7_geom

Definition at line 148 of file iCub.h.

◆ l_leg8_geom

dGeomID ICubSim::l_leg8_geom

Definition at line 148 of file iCub.h.

◆ la_speed

dReal ICubSim::la_speed[25]

Definition at line 214 of file iCub.h.

◆ la_speed1

dReal ICubSim::la_speed1[25]

Definition at line 215 of file iCub.h.

◆ la_torques

dReal ICubSim::la_torques[25]

Definition at line 224 of file iCub.h.

◆ LAjoints

dJointID ICubSim::LAjoints[25]

Definition at line 198 of file iCub.h.

◆ larm

dBodyID ICubSim::larm

Definition at line 156 of file iCub.h.

◆ larm0_geom

dGeomID ICubSim::larm0_geom

Definition at line 155 of file iCub.h.

◆ larm1_geom

dGeomID ICubSim::larm1_geom

Definition at line 155 of file iCub.h.

◆ larm2_geom

dGeomID ICubSim::larm2_geom

Definition at line 155 of file iCub.h.

◆ larm3_geom

dGeomID ICubSim::larm3_geom

Definition at line 155 of file iCub.h.

◆ larm4_geom

dGeomID ICubSim::larm4_geom

Definition at line 155 of file iCub.h.

◆ larm5_geom

dGeomID ICubSim::larm5_geom

Definition at line 155 of file iCub.h.

◆ leftLeg

dBodyID ICubSim::leftLeg[20]

Definition at line 101 of file iCub.h.

◆ leftLeg_2_1

dGeomID ICubSim::leftLeg_2_1

Definition at line 104 of file iCub.h.

◆ leftLeg_2_2

dGeomID ICubSim::leftLeg_2_2

Definition at line 104 of file iCub.h.

◆ leftLeg_3_1

dGeomID ICubSim::leftLeg_3_1

Definition at line 105 of file iCub.h.

◆ leftLeg_3_2

dGeomID ICubSim::leftLeg_3_2

Definition at line 105 of file iCub.h.

◆ leftLeg_4_1

dGeomID ICubSim::leftLeg_4_1

Definition at line 106 of file iCub.h.

◆ leftLeg_4_2

dGeomID ICubSim::leftLeg_4_2

Definition at line 106 of file iCub.h.

◆ leftLegGeom

dGeomID ICubSim::leftLegGeom[20]

Definition at line 102 of file iCub.h.

◆ legs

dBodyID ICubSim::legs

Definition at line 150 of file iCub.h.

◆ leye

dBodyID ICubSim::leye

Definition at line 178 of file iCub.h.

◆ Leye1_geom

dGeomID ICubSim::Leye1_geom

Definition at line 177 of file iCub.h.

◆ Leye2_geom

dGeomID ICubSim::Leye2_geom

Definition at line 177 of file iCub.h.

◆ lhandfingers0

dBodyID ICubSim::lhandfingers0

Definition at line 124 of file iCub.h.

◆ lhandfingers1

dBodyID ICubSim::lhandfingers1

Definition at line 127 of file iCub.h.

◆ lhandfingers2

dBodyID ICubSim::lhandfingers2

Definition at line 130 of file iCub.h.

◆ lhandfingers3

dBodyID ICubSim::lhandfingers3

Definition at line 133 of file iCub.h.

◆ lhandfings0_geom

dGeomID ICubSim::lhandfings0_geom

Definition at line 123 of file iCub.h.

◆ lhandfings1_geom

dGeomID ICubSim::lhandfings1_geom

Definition at line 123 of file iCub.h.

◆ lhandfings2_geom

dGeomID ICubSim::lhandfings2_geom

Definition at line 126 of file iCub.h.

◆ lhandfings3_geom

dGeomID ICubSim::lhandfings3_geom

Definition at line 126 of file iCub.h.

◆ lhandfings4_geom

dGeomID ICubSim::lhandfings4_geom

Definition at line 129 of file iCub.h.

◆ lhandfings5_geom

dGeomID ICubSim::lhandfings5_geom

Definition at line 129 of file iCub.h.

◆ lhandfings6_geom

dGeomID ICubSim::lhandfings6_geom

Definition at line 132 of file iCub.h.

◆ lhandfings7_geom

dGeomID ICubSim::lhandfings7_geom

Definition at line 132 of file iCub.h.

◆ List1_L_E

dGeomID ICubSim::List1_L_E

Definition at line 176 of file iCub.h.

◆ List1_R_E

dGeomID ICubSim::List1_R_E

Definition at line 181 of file iCub.h.

◆ List2_L_E

dGeomID ICubSim::List2_L_E

Definition at line 176 of file iCub.h.

◆ List2_R_E

dGeomID ICubSim::List2_R_E

Definition at line 181 of file iCub.h.

◆ LLeg_speed

dReal ICubSim::LLeg_speed[20]

Definition at line 211 of file iCub.h.

◆ LLeg_torques

dReal ICubSim::LLeg_torques[20]

Definition at line 221 of file iCub.h.

◆ LLegjoints

dJointID ICubSim::LLegjoints[20]

Definition at line 194 of file iCub.h.

◆ model

map<string, string> ICubSim::model

Definition at line 228 of file iCub.h.

◆ model_ThreeD_obj

map<string, iCubCovers> ICubSim::model_ThreeD_obj

Definition at line 253 of file iCub.h.

◆ model_TriData

map<string, dTriMeshDataID> ICubSim::model_TriData

Definition at line 230 of file iCub.h.

◆ model_trimesh

map<string, dTriMeshX> ICubSim::model_trimesh

Definition at line 231 of file iCub.h.

◆ modelTexture

int ICubSim::modelTexture[100]

Definition at line 233 of file iCub.h.

◆ modelTextureIndex

int ICubSim::modelTextureIndex

Definition at line 234 of file iCub.h.

◆ neck

dBodyID ICubSim::neck[2]

Definition at line 120 of file iCub.h.

◆ neck0_geom

dGeomID ICubSim::neck0_geom

Definition at line 167 of file iCub.h.

◆ neck1_geom

dGeomID ICubSim::neck1_geom

Definition at line 167 of file iCub.h.

◆ neckgeom

dGeomID ICubSim::neckgeom[2]

Definition at line 121 of file iCub.h.

◆ numCovers

int ICubSim::numCovers

Definition at line 235 of file iCub.h.

◆ r_hand

dBodyID ICubSim::r_hand

Definition at line 163 of file iCub.h.

◆ r_hand0_geom

dGeomID ICubSim::r_hand0_geom

Definition at line 162 of file iCub.h.

◆ r_hand1_geom

dGeomID ICubSim::r_hand1_geom

Definition at line 162 of file iCub.h.

◆ r_hand2_geom

dGeomID ICubSim::r_hand2_geom

Definition at line 162 of file iCub.h.

◆ r_hand3_geom

dGeomID ICubSim::r_hand3_geom

Definition at line 162 of file iCub.h.

◆ r_hand4_geom

dGeomID ICubSim::r_hand4_geom

Definition at line 162 of file iCub.h.

◆ r_hand5_geom

dGeomID ICubSim::r_hand5_geom

Definition at line 162 of file iCub.h.

◆ r_leg0_geom

dGeomID ICubSim::r_leg0_geom

Definition at line 149 of file iCub.h.

◆ r_leg1_geom

dGeomID ICubSim::r_leg1_geom

Definition at line 149 of file iCub.h.

◆ r_leg2_geom

dGeomID ICubSim::r_leg2_geom

Definition at line 149 of file iCub.h.

◆ r_leg3_geom

dGeomID ICubSim::r_leg3_geom

Definition at line 149 of file iCub.h.

◆ r_leg4_geom

dGeomID ICubSim::r_leg4_geom

Definition at line 149 of file iCub.h.

◆ r_leg5_geom

dGeomID ICubSim::r_leg5_geom

Definition at line 149 of file iCub.h.

◆ r_leg6_geom

dGeomID ICubSim::r_leg6_geom

Definition at line 149 of file iCub.h.

◆ r_leg7_geom

dGeomID ICubSim::r_leg7_geom

Definition at line 149 of file iCub.h.

◆ r_leg8_geom

dGeomID ICubSim::r_leg8_geom

Definition at line 149 of file iCub.h.

◆ ra_speed

dReal ICubSim::ra_speed[25]

Definition at line 216 of file iCub.h.

◆ ra_speed1

dReal ICubSim::ra_speed1[25]

Definition at line 217 of file iCub.h.

◆ ra_torques

dReal ICubSim::ra_torques[25]

Definition at line 225 of file iCub.h.

◆ RAjoints

dJointID ICubSim::RAjoints[25]

Definition at line 199 of file iCub.h.

◆ rarm

dBodyID ICubSim::rarm

Definition at line 159 of file iCub.h.

◆ rarm0_geom

dGeomID ICubSim::rarm0_geom

Definition at line 158 of file iCub.h.

◆ rarm1_geom

dGeomID ICubSim::rarm1_geom

Definition at line 158 of file iCub.h.

◆ rarm2_geom

dGeomID ICubSim::rarm2_geom

Definition at line 158 of file iCub.h.

◆ rarm3_geom

dGeomID ICubSim::rarm3_geom

Definition at line 158 of file iCub.h.

◆ rarm4_geom

dGeomID ICubSim::rarm4_geom

Definition at line 158 of file iCub.h.

◆ rarm5_geom

dGeomID ICubSim::rarm5_geom

Definition at line 158 of file iCub.h.

◆ reinitialized

bool ICubSim::reinitialized

Definition at line 84 of file iCub.h.

◆ reye

dBodyID ICubSim::reye

Definition at line 183 of file iCub.h.

◆ Reye1_geom

dGeomID ICubSim::Reye1_geom

Definition at line 182 of file iCub.h.

◆ Reye2_geom

dGeomID ICubSim::Reye2_geom

Definition at line 182 of file iCub.h.

◆ rhandfingers0

dBodyID ICubSim::rhandfingers0

Definition at line 136 of file iCub.h.

◆ rhandfingers1

dBodyID ICubSim::rhandfingers1

Definition at line 139 of file iCub.h.

◆ rhandfingers2

dBodyID ICubSim::rhandfingers2

Definition at line 142 of file iCub.h.

◆ rhandfingers3

dBodyID ICubSim::rhandfingers3

Definition at line 145 of file iCub.h.

◆ rhandfings0_geom

dGeomID ICubSim::rhandfings0_geom

Definition at line 135 of file iCub.h.

◆ rhandfings1_geom

dGeomID ICubSim::rhandfings1_geom

Definition at line 135 of file iCub.h.

◆ rhandfings2_geom

dGeomID ICubSim::rhandfings2_geom

Definition at line 138 of file iCub.h.

◆ rhandfings3_geom

dGeomID ICubSim::rhandfings3_geom

Definition at line 138 of file iCub.h.

◆ rhandfings4_geom

dGeomID ICubSim::rhandfings4_geom

Definition at line 141 of file iCub.h.

◆ rhandfings5_geom

dGeomID ICubSim::rhandfings5_geom

Definition at line 141 of file iCub.h.

◆ rhandfings6_geom

dGeomID ICubSim::rhandfings6_geom

Definition at line 144 of file iCub.h.

◆ rhandfings7_geom

dGeomID ICubSim::rhandfings7_geom

Definition at line 144 of file iCub.h.

◆ rightLeg

dBodyID ICubSim::rightLeg[20]

Definition at line 108 of file iCub.h.

◆ rightLeg_2_1

dGeomID ICubSim::rightLeg_2_1

Definition at line 110 of file iCub.h.

◆ rightLeg_2_2

dGeomID ICubSim::rightLeg_2_2

Definition at line 110 of file iCub.h.

◆ rightLeg_3_1

dGeomID ICubSim::rightLeg_3_1

Definition at line 111 of file iCub.h.

◆ rightLeg_3_2

dGeomID ICubSim::rightLeg_3_2

Definition at line 111 of file iCub.h.

◆ rightLeg_4_1

dGeomID ICubSim::rightLeg_4_1

Definition at line 112 of file iCub.h.

◆ rightLeg_4_2

dGeomID ICubSim::rightLeg_4_2

Definition at line 112 of file iCub.h.

◆ rightLegGeom

dGeomID ICubSim::rightLegGeom[20]

Definition at line 109 of file iCub.h.

◆ RLeg_speed

dReal ICubSim::RLeg_speed[20]

Definition at line 212 of file iCub.h.

◆ RLeg_torques

dReal ICubSim::RLeg_torques[20]

Definition at line 222 of file iCub.h.

◆ RLegjoints

dJointID ICubSim::RLegjoints[20]

Definition at line 195 of file iCub.h.

◆ screenGeom

dGeomID ICubSim::screenGeom

Definition at line 83 of file iCub.h.

◆ textured

const bool ICubSim::textured = true
static

Definition at line 79 of file iCub.h.

◆ textureName

string ICubSim::textureName[100]

Definition at line 229 of file iCub.h.

◆ topEyeLid

dBodyID ICubSim::topEyeLid

Definition at line 188 of file iCub.h.

◆ topEyeLid_geom

dGeomID ICubSim::topEyeLid_geom

Definition at line 186 of file iCub.h.

◆ torqueData

double ICubSim::torqueData[100]

Definition at line 237 of file iCub.h.

◆ torso

dBodyID ICubSim::torso[9]

Definition at line 114 of file iCub.h.

◆ torso0_geom

dGeomID ICubSim::torso0_geom

Definition at line 152 of file iCub.h.

◆ torso1_geom

dGeomID ICubSim::torso1_geom

Definition at line 152 of file iCub.h.

◆ torso1b_geom

dGeomID ICubSim::torso1b_geom

Definition at line 152 of file iCub.h.

◆ torso2_geom

dGeomID ICubSim::torso2_geom

Definition at line 152 of file iCub.h.

◆ torso3_geom

dGeomID ICubSim::torso3_geom

Definition at line 152 of file iCub.h.

◆ torso4_geom

dGeomID ICubSim::torso4_geom

Definition at line 152 of file iCub.h.

◆ torso5_geom

dGeomID ICubSim::torso5_geom

Definition at line 152 of file iCub.h.

◆ Torso_speed

dReal ICubSim::Torso_speed[8]

Definition at line 213 of file iCub.h.

◆ Torso_torques

dReal ICubSim::Torso_torques[8]

Definition at line 223 of file iCub.h.

◆ torsoGeom

dGeomID ICubSim::torsoGeom[9]

Definition at line 115 of file iCub.h.

◆ Torsojoints

dJointID ICubSim::Torsojoints[8]

Definition at line 197 of file iCub.h.


The documentation for this class was generated from the following files: