▼Ndynamicgraph | |
►Nsot | |
►Ncommand | |
CGetElement | |
CSetElement | |
►Ndetail | |
Ccircular_buffer | |
CAbstractSotExternalInterface | |
CAdditionalFunctions | This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities |
CBinaryIntToUint | |
CBinaryOp | |
CClampWorkspace | |
CCoMFreezer | |
CConstraint | |
CConstraintMem | |
CConstraintRef | |
CContiifstream | |
CControlGR | |
CControlPD | |
CDebugTrace | |
CDerivator | |
CDevice | |
CExceptionAbstract | |
CExceptionDynamic | |
CExceptionFactory | |
CExceptionFeature | |
CExceptionSignal | |
CExceptionTask | |
CExceptionTools | |
CFeature1D | Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task |
CFeatureAbstract | This class gives the abstract definition of a feature |
CFeatureGeneric | Class that defines a generic implementation of the abstract interface for features |
CFeatureJointLimits | Class that defines gradient vector for jl avoidance |
CFeatureLineDistance | Class that defines point-3d control feature |
CFeaturePoint6d | Class that defines point-6d control feature |
CFeaturePoint6dRelative | Class that defines the motion of a point of the body wrt. another point |
CFeaturePosture | |
CFeatureReferenceHelper | |
CFeatureTask | |
CFeatureVector3 | Class that defines point-3d control feature |
CFeatureVisualPoint | Class that defines 2D visualPoint visual feature |
CFIRFilter | |
CFlags | |
CGainAdaptive | |
CGainHyperbolic | |
CGripperControl | The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept |
CGripperControlPlugin | |
CHeader | |
CIntegratorAbstract | Integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator |
CIntegratorEuler | Integrates an ODE using a naive Euler integration. TODO: change the integration method. For the moment, the highest derivative of the output signal is computed using the previous values of the other derivatives and the input signal, then integrated n times, which will most certainly induce a huge drift for ODEs with a high order at the denominator |
CJointLimitator | Filter control vector to avoid exceeding joint maximum values |
CJointTrajectoryPoint | |
CKalman | |
►CMailbox | |
CsotTimestampedObject | |
CMatrixConstant | |
CMatrixForce | |
CMatrixHomogeneous | |
CMatrixRotation | |
CMatrixTwist | |
CMemoryTaskSOT | |
►CMotionPeriod | |
CsotMotionParam | |
CMultiBound | |
CNamedVector | |
CNeckLimitation | |
COpPointModifier | Compute position and jacobian of a local frame attached to a joint |
►CPeriodicCall | |
CSignalToCall | |
CPeriodicCallEntity | |
CPoolStorage | This singleton class keep tracks of all features and tasks |
CRobotSimu | |
CRulesJointTrajectory | |
CSeqPlay | |
►CSequencer | |
CsotEventAbstract | |
CSmoothReach | |
CSolverHierarchicalInequalities | |
CSot | This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks |
►CSotH | |
CMemoryTaskSOTH | |
CSotJointTrajectoryEntity | This object handles trajectory of quantities and publish them as signals |
CSotQr | This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks |
CTask | Class that defines the basic elements of a task |
►CTaskAbstract | Hierarchical element of the stack of tasks |
CMemoryTaskAbstract | |
CTaskConti | |
CTaskPD | |
CTaskUnilateral | |
Ctimestamp | |
CTimeStamp | |
CTrajectory | |
CUnaryOp | |
CVectorConstant | |
CVectorQuaternion | |
CVectorRollPitchYaw | |
CVectorRotation | |
CVectorToRotation | |
CVectorUTheta | |
CVisualPointProjecter | |
CWeightedSot | This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks |
CMATLAB | |
CMotionPeriod | |
CRotationSimple | |
CsotReader | |
CsotRotationComposed | |
CsotRotationComposedInExtenso | |
CsotRotationSimpleGiven | |
CsotRotationSimpleHouseholder | |
CTimer |