Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 1234]
 Ndynamicgraph
 Nsot
 Ncommand
 CGetElement
 CSetElement
 Ndetail
 Ccircular_buffer
 CAbstractSotExternalInterface
 CAdditionalFunctionsThis helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities
 CBinaryIntToUint
 CBinaryOp
 CClampWorkspace
 CCoMFreezer
 CConstraint
 CContiifstream
 CControlGR
 CControlPD
 CDebugTrace
 CDerivator
 CDevice
 CEventEvent
 CExceptionAbstract
 CExceptionDynamic
 CExceptionFactory
 CExceptionFeature
 CExceptionSignal
 CExceptionTask
 CExceptionTools
 CFeature1DSimple 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
 CFeatureAbstractThis class gives the abstract definition of a feature
 CFeatureGenericClass that defines a generic implementation of the abstract interface for features
 CFeatureJointLimitsClass that defines gradient vector for jl avoidance
 CFeatureLineDistanceClass that defines point-3d control feature
 CFeaturePoint6dClass that defines point-6d control feature
 CFeaturePoint6dRelativeClass that defines the motion of a point of the body wrt. another point
 CFeaturePosture
 CFeatureReferenceHelper
 CFeatureTask
 CFeatureVector3Class that defines point-3d control feature
 CFeatureVisualPointClass that defines 2D visualPoint visual feature
 CFIRFilter
 CFlags
 CGainAdaptive
 CGainHyperbolic
 CGripperControlThe 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
 CIntegratorAbstractIntegrates 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
 CIntegratorEulerIntegrates 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
 CJointLimitatorFilter control vector to avoid exceeding joint maximum values
 CJointTrajectoryPoint
 CKalman
 CLatch
 CMailbox
 CsotTimestampedObject
 CMatrixConstant
 CMemoryTaskSOT
 CMotionPeriod
 CsotMotionParam
 CMultiBound
 CNamedVector
 CNeckLimitation
 COpPointModifierCompute position and jacobian of a local frame attached to a joint
 CPeriodicCall
 CSignalToCall
 CPeriodicCallEntity
 CPoolStorageThis singleton class keep tracks of all features and tasks
 CRobotSimu
 CRulesJointTrajectory
 CSeqPlay
 CSequencer
 CsotEventAbstract
 CSmoothReach
 CSotThis 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
 CSotJointTrajectoryEntityThis object handles trajectory of quantities and publish them as signals
 CSwitchSwitch
 CTaskClass that defines the basic elements of a task
 CTaskAbstractHierarchical element of the stack of tasks
 CMemoryTaskAbstract
 CTaskConti
 CTaskPD
 CTaskUnilateral
 CTimeStamp
 Ctimestamp
 CTrajectory
 CUnaryOp
 CVectorConstant
 CVectorToRotation
 CVisualPointProjecter
 CMotionPeriod
 CsotReader
 CTimer