A Base class for defining a Link with standard Denavit-Hartenberg convention. More...

#include <iKinFwd.h>

Inheritance diagram for iCub::iKin::iKinLink:

Public Member Functions
	iKinLink (double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI)
	Constructor. More...

	iKinLink (const iKinLink &l)
	Creates a new Link from an already existing Link object. More...

iKinLink &	operator= (const iKinLink &l)
	Copies a Link object into the current one. More...

void	setConstraint (bool _constrained)
	Sets the constraint status. More...

bool	getConstraint () const
	Returns the constraint status. More...

void	setVerbosity (unsigned int _verbose)
	Sets Link verbosity level. More...

unsigned int	getVerbosity () const
	Returns the current Link verbosity level. More...

bool	isBlocked () const
	Returns the Link blocking status. More...

double	getA () const
	Returns the Link length A. More...

void	setA (const double _A)
	Sets the Link length A. More...

double	getD () const
	Returns the Link offset D. More...

void	setD (const double _D)
	Sets the Link offset D. More...

double	getAlpha () const
	Returns the Link twist Alpha. More...

void	setAlpha (const double _Alpha)
	Sets the Link twist Alpha. More...

double	getOffset () const
	Returns the joint angle offset. More...

void	setOffset (const double _Offset)
	Sets the joint angle offset. More...

double	getMin () const
	Returns the joint angle lower bound. More...

void	setMin (const double _Min)
	Sets the joint angle lower bound. More...

double	getMax () const
	Returns the joint angle upper bound. More...

void	setMax (const double _Max)
	Sets the joint angle higher bound. More...

double	getAng () const
	Returns the current joint angle value. More...

double	setAng (double _Ang)
	Sets the joint angle value. More...

yarp::sig::Matrix	getH (bool c_override=false)
	Computes the homogeneous transformation matrix H of the Link. More...

yarp::sig::Matrix	getH (double _Ang, bool c_override=false)
	Same as getH() with specification of new joint angle position. More...

yarp::sig::Matrix	getDnH (unsigned int n=1, bool c_override=false)
	Computes the derivative of order n of the homogeneous transformation matrix H with respect to the joint angle. More...

virtual	~iKinLink ()
	Default destructor. More...

virtual double	setDAng (const double)

virtual double	setD2Ang (const double)

virtual void	setPosVelAcc (const double, const double, const double)

virtual bool	setDynamicParameters (const double, const yarp::sig::Matrix &, const yarp::sig::Matrix &, const double, const double, const double, const double)

virtual bool	setDynamicParameters (const double, const yarp::sig::Matrix &, const yarp::sig::Matrix &)

virtual bool	setStaticParameters (const double, const yarp::sig::Matrix &)

virtual bool	setInertia (const yarp::sig::Matrix &)

virtual void	setMass (const double)

virtual bool	setCOM (const yarp::sig::Matrix &)

virtual bool	setCOM (const yarp::sig::Vector &)

virtual bool	setForce (const yarp::sig::Vector &, const yarp::sig::Vector &)

virtual bool	setMoment (const yarp::sig::Vector &)

virtual void	setTorque (const double)

virtual const yarp::sig::Matrix &	getInertia () const

virtual double	getMass () const

virtual double	getIm () const

virtual double	getKr () const

virtual double	getFs () const

virtual double	getFv () const

virtual const yarp::sig::Matrix &	getCOM () const

virtual double	getDAng () const

virtual double	getD2Ang () const

virtual const yarp::sig::Matrix &	getR ()

virtual const yarp::sig::Matrix &	getRC ()

virtual const yarp::sig::Vector &	getr ()

virtual const yarp::sig::Vector &	getrC ()

virtual const yarp::sig::Vector &	getW () const

virtual const yarp::sig::Vector &	getdW () const

virtual const yarp::sig::Vector &	getdWM () const

virtual const yarp::sig::Vector &	getLinAcc () const

virtual const yarp::sig::Vector &	getLinAccC () const

virtual const yarp::sig::Vector &	getLinVel () const

virtual const yarp::sig::Vector &	getLinVelC () const

virtual const yarp::sig::Vector &	getForce () const

virtual const yarp::sig::Vector &	getMoment () const

virtual double	getTorque () const

Protected Member Functions
	iKinLink ()

virtual void	clone (const iKinLink &l)

bool	isCumulative ()

void	block ()

void	block (double _Ang)

void	release ()

void	rmCumH ()

void	addCumH (const yarp::sig::Matrix &_cumH)

Protected Attributes
double	A

double	D

double	Alpha

double	Offset

double	c_alpha

double	s_alpha

double	Min

double	Max

double	Ang

bool	blocked

bool	cumulative

bool	constrained

unsigned int	verbose

yarp::sig::Matrix	H

yarp::sig::Matrix	cumH

yarp::sig::Matrix	DnH

const yarp::sig::Matrix	zeros1x1

const yarp::sig::Vector	zeros1

Friends
class	iKinChain

Detailed Description

A Base class for defining a Link with standard Denavit-Hartenberg convention.

Note: This class implements revolute joints only, as they are the unique type of joints used in humanoid robotics.

Definition at line 85 of file iKinFwd.h.

Constructor & Destructor Documentation

◆ iKinLink() [1/3]

iCub::iKin::iKinLink::iKinLink ( )

protected

◆ iKinLink() [2/3]

iKinLink::iKinLink	(	double	_A,
		double	_D,
		double	_Alpha,
		double	_Offset,
		double	_Min = `-iCub::ctrl::CTRL_PI`,
		double	_Max = `iCub::ctrl::CTRL_PI`
	)

Constructor.

Parameters

_A	is the Link length.
_D	is the Link offset.
_Alpha	is the Link twist.
_Offset	is the joint angle offset in [-pi,pi]
_Min	is the joint angle lower bound in [-pi,pi] (-pi by default).
_Max	is the joint angle higher bound in [-pi,pi] (pi by default).

Definition at line 39 of file iKinFwd.cpp.

◆ iKinLink() [3/3]

iKinLink::iKinLink ( const iKinLink & l )

Creates a new Link from an already existing Link object.

Parameters

l	is the Link to be copied.

Definition at line 99 of file iKinFwd.cpp.

◆ ~iKinLink()

virtual iCub::iKin::iKinLink::~iKinLink ( )

inlinevirtual

Default destructor.

Definition at line 301 of file iKinFwd.h.

Member Function Documentation

◆ addCumH()

void iKinLink::addCumH ( const yarp::sig::Matrix & _cumH )

protected

Definition at line 248 of file iKinFwd.cpp.

◆ block() [1/2]

void iCub::iKin::iKinLink::block ( )

inlineprotected

Definition at line 116 of file iKinFwd.h.

◆ block() [2/2]

void iCub::iKin::iKinLink::block ( double _Ang )

inlineprotected

Definition at line 117 of file iKinFwd.h.

◆ clone()

void iKinLink::clone ( const iKinLink & l )

protectedvirtual

Definition at line 73 of file iKinFwd.cpp.

◆ getA()

double iCub::iKin::iKinLink::getA ( ) const

inline

Returns the Link length A.

Returns: Link length A.

Definition at line 188 of file iKinFwd.h.

◆ getAlpha()

double iCub::iKin::iKinLink::getAlpha ( ) const

inline

Returns the Link twist Alpha.

Returns: Link twist Alpha.

Definition at line 212 of file iKinFwd.h.

◆ getAng()

double iCub::iKin::iKinLink::getAng ( ) const

inline

Returns the current joint angle value.

Returns: current joint angle value.

Definition at line 260 of file iKinFwd.h.

◆ getCOM()

virtual const yarp::sig::Matrix& iCub::iKin::iKinLink::getCOM ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 329 of file iKinFwd.h.

◆ getConstraint()

bool iCub::iKin::iKinLink::getConstraint ( ) const

inline

Returns the constraint status.

Returns: current constraint status.

Definition at line 161 of file iKinFwd.h.

◆ getD()

double iCub::iKin::iKinLink::getD ( ) const

inline

Returns the Link offset D.

Returns: Link offset D.

Definition at line 200 of file iKinFwd.h.

◆ getD2Ang()

virtual double iCub::iKin::iKinLink::getD2Ang ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 331 of file iKinFwd.h.

◆ getDAng()

virtual double iCub::iKin::iKinLink::getDAng ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 330 of file iKinFwd.h.

◆ getDnH()

Matrix iKinLink::getDnH	(	unsigned int	n = `1`,
		bool	c_override = `false`
	)

Computes the derivative of order n of the homogeneous transformation matrix H with respect to the joint angle.

Parameters

n	is the order of the derivative (1 by default)
c_override	if true avoid accumulating the computation of previous links in the chain (false by default).

Returns: a reference to derivative of order n.

Definition at line 202 of file iKinFwd.cpp.

◆ getdW()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getdW ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 337 of file iKinFwd.h.

◆ getdWM()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getdWM ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 338 of file iKinFwd.h.

◆ getForce()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getForce ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 343 of file iKinFwd.h.

◆ getFs()

virtual double iCub::iKin::iKinLink::getFs ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 327 of file iKinFwd.h.

◆ getFv()

virtual double iCub::iKin::iKinLink::getFv ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 328 of file iKinFwd.h.

◆ getH() [1/2]

Matrix iKinLink::getH ( bool c_override = false )

Computes the homogeneous transformation matrix H of the Link.

Parameters

c_override if true avoid accumulating the computation of previous links in the chain, i.e. H=Hn and not H=Hn*Hn-1 (false by default)

Returns: a reference to H.

Definition at line 169 of file iKinFwd.cpp.

◆ getH() [2/2]

Matrix iKinLink::getH	(	double	_Ang,
		bool	c_override = `false`
	)

Same as getH() with specification of new joint angle position.

Parameters

_Ang	is the new joint angle position.
c_override.

Returns: a reference to H.

See also: getH

Definition at line 193 of file iKinFwd.cpp.

◆ getIm()

virtual double iCub::iKin::iKinLink::getIm ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 325 of file iKinFwd.h.

◆ getInertia()

virtual const yarp::sig::Matrix& iCub::iKin::iKinLink::getInertia ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 323 of file iKinFwd.h.

◆ getKr()

virtual double iCub::iKin::iKinLink::getKr ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 326 of file iKinFwd.h.

◆ getLinAcc()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getLinAcc ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 339 of file iKinFwd.h.

◆ getLinAccC()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getLinAccC ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 340 of file iKinFwd.h.

◆ getLinVel()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getLinVel ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 341 of file iKinFwd.h.

◆ getLinVelC()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getLinVelC ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 342 of file iKinFwd.h.

◆ getMass()

virtual double iCub::iKin::iKinLink::getMass ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 324 of file iKinFwd.h.

◆ getMax()

double iCub::iKin::iKinLink::getMax ( void ) const

inline

Returns the joint angle upper bound.

Returns: joint angle upper bound.

Definition at line 248 of file iKinFwd.h.

◆ getMin()

double iCub::iKin::iKinLink::getMin ( void ) const

inline

Returns the joint angle lower bound.

Returns: joint angle lower bound.

Definition at line 236 of file iKinFwd.h.

◆ getMoment()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getMoment ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 344 of file iKinFwd.h.

◆ getOffset()

double iCub::iKin::iKinLink::getOffset ( ) const

inline

Returns the joint angle offset.

Returns: joint angle offset.

Definition at line 224 of file iKinFwd.h.

◆ getR()

virtual const yarp::sig::Matrix& iCub::iKin::iKinLink::getR ( )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 332 of file iKinFwd.h.

◆ getr()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getr ( )

inlinevirtual

Definition at line 334 of file iKinFwd.h.

◆ getRC()

virtual const yarp::sig::Matrix& iCub::iKin::iKinLink::getRC ( )

inlinevirtual

Definition at line 333 of file iKinFwd.h.

◆ getrC()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getrC ( )

inlinevirtual

Definition at line 335 of file iKinFwd.h.

◆ getTorque()

virtual double iCub::iKin::iKinLink::getTorque ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 345 of file iKinFwd.h.

◆ getVerbosity()

unsigned int iCub::iKin::iKinLink::getVerbosity ( ) const

inline

Returns the current Link verbosity level.

Returns: Link verbosity level.

Definition at line 176 of file iKinFwd.h.

◆ getW()

virtual const yarp::sig::Vector& iCub::iKin::iKinLink::getW ( ) const

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 336 of file iKinFwd.h.

◆ isBlocked()

bool iCub::iKin::iKinLink::isBlocked ( ) const

inline

Returns the Link blocking status.

Returns: true if link is blocked.

Definition at line 182 of file iKinFwd.h.

◆ isCumulative()

bool iCub::iKin::iKinLink::isCumulative ( )

inlineprotected

Definition at line 115 of file iKinFwd.h.

◆ operator=()

iKinLink & iKinLink::operator= ( const iKinLink & l )

Copies a Link object into the current one.

Parameters

l	is a reference to an object of type iKinLink.

Returns: a reference to the current object.

Definition at line 106 of file iKinFwd.cpp.

◆ release()

void iCub::iKin::iKinLink::release ( )

inlineprotected

Definition at line 118 of file iKinFwd.h.

◆ rmCumH()

void iCub::iKin::iKinLink::rmCumH ( )

inlineprotected

Definition at line 119 of file iKinFwd.h.

◆ setA()

void iCub::iKin::iKinLink::setA ( const double _A )

inline

Sets the Link length A.

Parameters

new	Link length _A.

Definition at line 194 of file iKinFwd.h.

◆ setAlpha()

void iKinLink::setAlpha ( const double _Alpha )

Sets the Link twist Alpha.

Parameters

new	Link twist _Alpha.

Definition at line 142 of file iKinFwd.cpp.

◆ setAng()

double iKinLink::setAng ( double _Ang )

Sets the joint angle value.

Parameters

_Ang	new value for joint angle.

Returns: actual joint angle value (constraints are evaluated).

Definition at line 152 of file iKinFwd.cpp.

◆ setCOM() [1/2]

virtual bool iCub::iKin::iKinLink::setCOM ( const yarp::sig::Matrix & )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 316 of file iKinFwd.h.

◆ setCOM() [2/2]

virtual bool iCub::iKin::iKinLink::setCOM ( const yarp::sig::Vector & )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 317 of file iKinFwd.h.

◆ setConstraint()

void iCub::iKin::iKinLink::setConstraint ( bool _constrained )

inline

Sets the constraint status.

Parameters

_constrained if true the joint angle cannot be set out of its limits (initialized as true).

Definition at line 155 of file iKinFwd.h.

◆ setD()

void iKinLink::setD ( const double _D )

Sets the Link offset D.

Parameters

new	Link offset _D.

Definition at line 135 of file iKinFwd.cpp.

◆ setD2Ang()

virtual double iCub::iKin::iKinLink::setD2Ang ( const double )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 306 of file iKinFwd.h.

◆ setDAng()

virtual double iCub::iKin::iKinLink::setDAng ( const double )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 305 of file iKinFwd.h.

◆ setDynamicParameters() [1/2]

virtual bool iCub::iKin::iKinLink::setDynamicParameters	(	const double	,
		const yarp::sig::Matrix &	,
		const yarp::sig::Matrix &
	)

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 311 of file iKinFwd.h.

◆ setDynamicParameters() [2/2]

virtual bool iCub::iKin::iKinLink::setDynamicParameters	(	const double	,
		const yarp::sig::Matrix &	,
		const yarp::sig::Matrix &	,
		const double	,
		const double	,
		const double	,
		const double
	)

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 308 of file iKinFwd.h.

◆ setForce()

virtual bool iCub::iKin::iKinLink::setForce	(	const yarp::sig::Vector &	,
		const yarp::sig::Vector &
	)

inlinevirtual

Definition at line 318 of file iKinFwd.h.

◆ setInertia()

virtual bool iCub::iKin::iKinLink::setInertia ( const yarp::sig::Matrix & )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 314 of file iKinFwd.h.

◆ setMass()

virtual void iCub::iKin::iKinLink::setMass ( const double )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 315 of file iKinFwd.h.

◆ setMax()

void iKinLink::setMax ( const double _Max )

Sets the joint angle higher bound.

Parameters

_Max	is the joint angle higher bound in [-pi,pi].

Definition at line 125 of file iKinFwd.cpp.

◆ setMin()

void iKinLink::setMin ( const double _Min )

Sets the joint angle lower bound.

Parameters

_Min	is the joint angle lower bound in [-pi,pi].

Definition at line 115 of file iKinFwd.cpp.

◆ setMoment()

virtual bool iCub::iKin::iKinLink::setMoment ( const yarp::sig::Vector & )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 319 of file iKinFwd.h.

◆ setOffset()

void iCub::iKin::iKinLink::setOffset ( const double _Offset )

inline

Sets the joint angle offset.

Parameters

new	joint angle offset _Offset.

Definition at line 230 of file iKinFwd.h.

◆ setPosVelAcc()

virtual void iCub::iKin::iKinLink::setPosVelAcc	(	const double	,
		const double	,
		const double
	)

inlinevirtual

Definition at line 307 of file iKinFwd.h.

◆ setStaticParameters()

virtual bool iCub::iKin::iKinLink::setStaticParameters	(	const double	,
		const yarp::sig::Matrix &
	)

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 313 of file iKinFwd.h.

◆ setTorque()

virtual void iCub::iKin::iKinLink::setTorque ( const double )

inlinevirtual

Reimplemented in iCub::iDyn::iDynLink.

Definition at line 320 of file iKinFwd.h.

◆ setVerbosity()

void iCub::iKin::iKinLink::setVerbosity ( unsigned int _verbose )

inline

Sets Link verbosity level.

Parameters

_verbose is a integer number which progressively enables different levels of warning messages. The larger this value the more detailed is the output.

Definition at line 170 of file iKinFwd.h.

Friends And Related Function Documentation

◆ iKinChain

friend class iKinChain

friend

Definition at line 109 of file iKinFwd.h.

Member Data Documentation

◆ A

double iCub::iKin::iKinLink::A

protected

Definition at line 88 of file iKinFwd.h.

◆ Alpha

double iCub::iKin::iKinLink::Alpha

protected

Definition at line 90 of file iKinFwd.h.

◆ Ang

double iCub::iKin::iKinLink::Ang

protected

Definition at line 96 of file iKinFwd.h.

◆ blocked

bool iCub::iKin::iKinLink::blocked

protected

Definition at line 97 of file iKinFwd.h.

◆ c_alpha

double iCub::iKin::iKinLink::c_alpha

protected

Definition at line 92 of file iKinFwd.h.

◆ constrained

bool iCub::iKin::iKinLink::constrained

protected

Definition at line 99 of file iKinFwd.h.

◆ cumH

yarp::sig::Matrix iCub::iKin::iKinLink::cumH

protected

Definition at line 103 of file iKinFwd.h.

◆ cumulative

bool iCub::iKin::iKinLink::cumulative

protected

Definition at line 98 of file iKinFwd.h.

◆ D

double iCub::iKin::iKinLink::D

protected

Definition at line 89 of file iKinFwd.h.

◆ DnH

yarp::sig::Matrix iCub::iKin::iKinLink::DnH

protected

Definition at line 104 of file iKinFwd.h.

◆ H

yarp::sig::Matrix iCub::iKin::iKinLink::H

protected

Definition at line 102 of file iKinFwd.h.

◆ Max

double iCub::iKin::iKinLink::Max

protected

Definition at line 95 of file iKinFwd.h.

◆ Min

double iCub::iKin::iKinLink::Min

protected

Definition at line 94 of file iKinFwd.h.

◆ Offset

double iCub::iKin::iKinLink::Offset

protected

Definition at line 91 of file iKinFwd.h.

◆ s_alpha

double iCub::iKin::iKinLink::s_alpha

protected

Definition at line 93 of file iKinFwd.h.

◆ verbose

unsigned int iCub::iKin::iKinLink::verbose

protected

Definition at line 100 of file iKinFwd.h.

◆ zeros1

const yarp::sig::Vector iCub::iKin::iKinLink::zeros1

protected

Definition at line 107 of file iKinFwd.h.

◆ zeros1x1

const yarp::sig::Matrix iCub::iKin::iKinLink::zeros1x1

protected

Definition at line 106 of file iKinFwd.h.

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

icub-main/src/libraries/iKin/include/iCub/iKin/iKinFwd.h
icub-main/src/libraries/iKin/src/iKinFwd.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ iKinLink() [1/3]

◆ iKinLink() [2/3]

◆ iKinLink() [3/3]

◆ ~iKinLink()

Member Function Documentation

◆ addCumH()

◆ block() [1/2]

◆ block() [2/2]

◆ clone()

◆ getA()

◆ getAlpha()

◆ getAng()

◆ getCOM()

◆ getConstraint()

◆ getD()

◆ getD2Ang()

◆ getDAng()

◆ getDnH()

◆ getdW()

◆ getdWM()

◆ getForce()

◆ getFs()

◆ getFv()

◆ getH() [1/2]

◆ getH() [2/2]

◆ getIm()

◆ getInertia()

◆ getKr()

◆ getLinAcc()

◆ getLinAccC()

◆ getLinVel()

◆ getLinVelC()

◆ getMass()

◆ getMax()

◆ getMin()

◆ getMoment()

◆ getOffset()

◆ getR()

◆ getr()

◆ getRC()

◆ getrC()

◆ getTorque()

◆ getVerbosity()

◆ getW()

◆ isBlocked()

◆ isCumulative()

◆ operator=()

◆ release()

◆ rmCumH()

◆ setA()

◆ setAlpha()

◆ setAng()

◆ setCOM() [1/2]

◆ setCOM() [2/2]

◆ setConstraint()

◆ setD()

◆ setD2Ang()

◆ setDAng()

◆ setDynamicParameters() [1/2]

◆ setDynamicParameters() [2/2]

◆ setForce()

◆ setInertia()

◆ setMass()

◆ setMax()

◆ setMin()

◆ setMoment()

◆ setOffset()

◆ setPosVelAcc()

◆ setStaticParameters()

◆ setTorque()

◆ setVerbosity()

Friends And Related Function Documentation

◆ iKinChain

Member Data Documentation