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![]() ![]() ![]() ![]() | This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities |
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![]() ![]() ![]() ![]() | Event |
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![]() ![]() ![]() ![]() | 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 |
![]() ![]() ![]() ![]() | This class gives the abstract definition of a feature |
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![]() ![]() ![]() ![]() | Class that defines a generic implementation of the abstract interface for features |
![]() ![]() ![]() ![]() | Class that defines gradient vector for jl avoidance |
![]() ![]() ![]() ![]() | Class that defines point-3d control feature |
![]() ![]() ![]() ![]() | Class that defines the motion of a point of the body wrt. another point |
![]() ![]() ![]() ![]() | Class that defines point-6d control feature |
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![]() ![]() ![]() ![]() | Class that defines point-3d control feature |
![]() ![]() ![]() ![]() | Class that defines 2D visualPoint visual feature |
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![]() ![]() ![]() ![]() | 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 |
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![]() ![]() ![]() ![]() | 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 |
![]() ![]() ![]() ![]() | 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 |
![]() ![]() ![]() ![]() | Filter control vector to avoid exceeding joint maximum values |
![]() ![]() ![]() ![]() | This object handles trajectory of quantities and publish them as signals |
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![]() ![]() ![]() ![]() | Compute position and jacobian of a local frame attached to a joint |
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![]() ![]() ![]() ![]() | This singleton class keep tracks of all features and tasks |
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![]() ![]() ![]() ![]() | 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 |
![]() ![]() ![]() ![]() | Switch |
![]() ![]() ![]() ![]() | Hierarchical element of the stack of tasks |
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![]() ![]() ![]() ![]() | Class that defines the basic elements of a task |
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