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Modules

Classes for forward-inverse kinematics of serial-links chains of revolute joints and iCub limbs. More...

+ Collaboration diagram for iKin:

Modules

 iKinFwd
 Classes for forward kinematics of serial-links chains and iCub limbs.
 
 iKinHlp
 Helper class to deal with Cartesian Solver options.
 
 iKinInv
 Classes for inverse kinematics of serial-links chains and iCub limbs.
 
 iKinIpOpt
 Classes for inverse kinematics of serial-links chains and iCub limbs based on IpOpt.
 
 iKinSlv
 Classes for on-line solution of inverse kinematic of iCub limbs based on IpOpt.
 

Detailed Description

Classes for forward-inverse kinematics of serial-links chains of revolute joints and iCub limbs.

Note
SI units adopted: meters for lengths and radians for angles.

Dependencies

Note
If you're going to use iKin for your work, please quote it within any resulting publication: Pattacini U., Modular Cartesian Controllers for Humanoid Robots: Design and Implementation on the iCub, Ph.D. Dissertation, RBCS, Istituto Italiano di Tecnologia, 2011.
Author
Ugo Pattacini