dynamicgraph::sot Namespace Reference

Namespaces

 command
 
 detail
 
 TaskAbstract
 

Classes

class  AbstractSotExternalInterface
 
class  AdditionalFunctions
 
class  AngleEstimator
 
class  BinaryIntToUint
 
class  BinaryOp
 
class  CausalFilter
 
class  ClampWorkspace
 
class  CoMFreezer
 
class  Constraint
 
class  Contiifstream
 
class  ControlGR
 
class  ControlPD
 
class  DebugTrace
 
class  Derivator
 
class  Device
 
class  DynamicPinocchio
 This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file. More...
 
class  Event
 
class  ExceptionAbstract
 
class  ExceptionDynamic
 
class  ExceptionFactory
 
class  ExceptionFeature
 
class  ExceptionSignal
 
class  ExceptionTask
 
class  ExceptionTools
 
class  ExpMovingAvg
 
class  Feature1D
 
class  FeatureAbstract
 
class  FeatureGeneric
 
class  FeatureJointLimits
 
class  FeatureLineDistance
 
class  FeaturePoint6d
 
class  FeaturePoint6dRelative
 
class  FeaturePosture
 
class  FeatureReferenceHelper
 
class  FeatureTask
 
class  FeatureVector3
 
class  FeatureVisualPoint
 
class  FilterDifferentiator
 
class  FIRFilter
 
class  Flags
 
struct  FootUtil
 
class  ForceCompensation
 
class  ForceCompensationPlugin
 
struct  ForceLimits
 
struct  ForceUtil
 
class  GainAdaptive
 
class  GainHyperbolic
 
class  GradientAscent
 
class  GripperControl
 
class  GripperControlPlugin
 
struct  HandUtil
 
class  Header
 
class  IntegratorAbstract
 
class  IntegratorEuler
 
class  IntegratorForce
 
class  IntegratorForceExact
 
class  IntegratorForceRK4
 
class  JointLimitator
 
struct  JointLimits
 
class  JointTrajectoryPoint
 
class  Kalman
 
class  Latch
 
class  Mailbox
 
class  MassApparent
 
class  MatrixConstant
 
class  MatrixInertia
 
class  MemoryTaskSOT
 
class  MotionPeriod
 
class  MultiBound
 
class  NamedVector
 
class  NeckLimitation
 
class  OpPointModifier
 
class  ParameterServer
 
class  PeriodicCall
 
class  PeriodicCallEntity
 
class  PoolStorage
 
class  RobotSimu
 
struct  RobotUtil
 
class  RulesJointTrajectory
 
class  SeqPlay
 
class  Sequencer
 
class  SmoothReach
 
class  Sot
 
class  SotJointTrajectoryEntity
 
class  Switch
 
class  Task
 
class  TaskAbstract
 
class  TaskConti
 
class  TaskPD
 
class  TaskUnilateral
 
class  timestamp
 
class  TimeStamp
 
class  Trajectory
 
class  UnaryOp
 
class  VariadicAbstract
 
class  VariadicOp
 
class  VectorConstant
 
class  VectorToRotation
 
class  VisualPointProjecter
 
class  WaistAttitudeFromSensor
 
class  WaistPoseFromSensorAndContact
 
class  ZmprefFromCom
 

Typedefs

typedef NamedVector SensorValues
 
typedef NamedVector ControlValues
 
typedef Mailbox< dynamicgraph::VectorMailboxVector
 
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixRXd
 
typedef Eigen::Map< MatrixRXdSigMatrixXd
 
typedef Eigen::Map< Eigen::VectorXd > SigVectorXd
 
typedef const Eigen::Map< const MatrixRXdconst_SigMatrixXd
 
typedef const Eigen::Map< const Eigen::VectorXd > const_SigVectorXd
 
typedef Eigen::Ref< Eigen::VectorXd > RefVector
 
typedef const Eigen::Ref< const Eigen::VectorXd > & ConstRefVector
 
typedef Eigen::Ref< Eigen::MatrixXd > RefMatrix
 
typedef const Eigen::Ref< const Eigen::MatrixXd > ConstRefMatrix
 
typedef Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
 
typedef Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT MatrixRotation
 
typedef Eigen::AngleAxis< double > SOT_CORE_EXPORT VectorUTheta
 
typedef Eigen::Quaternion< double > SOT_CORE_EXPORT VectorQuaternion
 
typedef Eigen::Vector3d SOT_CORE_EXPORT VectorRotation
 
typedef Eigen::Vector3d SOT_CORE_EXPORT VectorRollPitchYaw
 
typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT MatrixForce
 
typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT MatrixTwist
 
typedef std::vector< MultiBoundVectorMultiBound
 
typedef Eigen::VectorXd::Index Index
 
typedef boost::shared_ptr< RobotUtilRobotUtilShrPtr
 

Enumerations

enum  ControlInput
 

Functions

void sotDEBUGF (const int, const char *,...)
 
void sotDEBUGF (const char *,...)
 
void sotERRORF (const int, const char *,...)
 
void sotERRORF (const char *,...)
 
std::ostream & __null_stream ()
 
void sotTDEBUGF (const int, const char *,...)
 
void sotTDEBUGF (const char *,...)
 
void buildFrom (const MatrixHomogeneous &MH, MatrixTwist &MT)
 
SOT_CORE_EXPORT std::ostream & operator<< (std::ostream &os, const VectorMultiBound &v)
 
SOT_CORE_EXPORT std::istream & operator>> (std::istream &os, VectorMultiBound &v)
 
RobotUtilShrPtr RefVoidRobotUtil ()
 
RobotUtilShrPtr getRobotUtil (std::string &robotName)
 
bool isNameInRobotUtil (std::string &robotName)
 
RobotUtilShrPtr createRobotUtil (std::string &robotName)
 
bool base_se3_to_sot (ConstRefVector pos, ConstRefMatrix R, RefVector q_sot)
 

Variables

 CONTROL_INPUT_NO_INTEGRATION
 
 CONTROL_INPUT_ONE_INTEGRATION
 
 CONTROL_INPUT_TWO_INTEGRATION
 
 CONTROL_INPUT_SIZE
 
SOT_CORE_EXPORT DebugTrace sotDEBUGFLOW
 
SOT_CORE_EXPORT DebugTrace sotERRORFLOW
 
const std::string ControlInput_s []
 
SOT_CORE_EXPORT const Flags FLAG_LINE_1
 
SOT_CORE_EXPORT const Flags FLAG_LINE_2
 
SOT_CORE_EXPORT const Flags FLAG_LINE_3
 
SOT_CORE_EXPORT const Flags FLAG_LINE_4
 
SOT_CORE_EXPORT const Flags FLAG_LINE_5
 
SOT_CORE_EXPORT const Flags FLAG_LINE_6
 
SOT_CORE_EXPORT const Flags FLAG_LINE_7
 
SOT_CORE_EXPORT const Flags FLAG_LINE_8