Namespaces
	command

	detail

Classes
class	AbstractSotExternalInterface

class	AdditionalFunctions
	This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities. More...

class	BinaryIntToUint

class	BinaryOp

class	ClampWorkspace

class	CoMFreezer

class	Constraint

class	Contiifstream

class	ControlGR

class	ControlPD

class	DebugTrace

class	Derivator

class	Device

class	Event
	Event. More...

class	ExceptionAbstract

class	ExceptionDynamic

class	ExceptionFactory

class	ExceptionFeature

class	ExceptionSignal

class	ExceptionTask

class	ExceptionTools

class	ExpMovingAvg

class	Feature1D
	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. More...

class	FeatureAbstract
	This class gives the abstract definition of a feature. More...

class	FeatureGeneric
	Class that defines a generic implementation of the abstract interface for features. More...

class	FeatureJointLimits
	Class that defines gradient vector for jl avoidance. More...

class	FeatureLineDistance
	Class that defines point-3d control feature. More...

class	FeaturePoint6d
	Class that defines point-6d control feature. More...

class	FeaturePoint6dRelative
	Class that defines the motion of a point of the body wrt. another point. More...

class	FeaturePosture

class	FeatureReferenceHelper

class	FeatureTask

class	FeatureVector3
	Class that defines point-3d control feature. More...

class	FeatureVisualPoint
	Class that defines 2D visualPoint visual feature. More...

class	FIRFilter

class	Flags

struct	FootUtil

struct	ForceLimits

struct	ForceUtil

class	GainAdaptive

class	GainHyperbolic

class	GradientAscent

class	GripperControl
	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. More...

class	GripperControlPlugin

class	Header

class	IntegratorAbstract
	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. More...

class	IntegratorEuler
	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. More...

class	JointLimitator
	Filter control vector to avoid exceeding joint maximum values. More...

struct	JointLimits

class	JointTrajectoryPoint

class	Kalman

class	Latch

class	Mailbox

class	MatrixConstant

class	MemoryTaskSOT

class	MotionPeriod

class	MultiBound

class	NamedVector

class	NeckLimitation

class	OpPointModifier
	Compute position and jacobian of a local frame attached to a joint. More...

class	PeriodicCall

class	PeriodicCallEntity

class	PoolStorage
	This singleton class keep tracks of all features and tasks. More...

class	RobotSimu

struct	RobotUtil

class	RulesJointTrajectory

class	SeqPlay

class	Sequencer

class	SmoothReach

class	Sot
	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. More...

class	SotJointTrajectoryEntity
	This object handles trajectory of quantities and publish them as signals. More...

class	Switch
	Switch. More...

class	Task
	Class that defines the basic elements of a task. More...

class	TaskAbstract
	Hierarchical element of the stack of tasks. More...

class	TaskConti

class	TaskPD

class	TaskUnilateral

class	TimeStamp

class	timestamp

class	Trajectory

class	UnaryOp

class	VariadicAbstract

class	VariadicOp

class	VectorConstant

class	VectorToRotation

class	VisualPointProjecter

Typedefs
typedef NamedVector	SensorValues

typedef NamedVector	ControlValues

typedef Mailbox< dynamicgraph::Vector >	MailboxVector

typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	MatrixRXd

typedef Eigen::Map< MatrixRXd >	SigMatrixXd

typedef Eigen::Map< Eigen::VectorXd >	SigVectorXd

typedef const Eigen::Map< const MatrixRXd >	const_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< MultiBound >	VectorMultiBound

typedef Eigen::VectorXd::Index	Index

Enumerations
enum	ControlInput { CONTROL_INPUT_NO_INTEGRATION =0, CONTROL_INPUT_ONE_INTEGRATION =1, CONTROL_INPUT_TWO_INTEGRATION =2, CONTROL_INPUT_SIZE =3 }
	Define the type of input expected by the robot. More...

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)

RobotUtil *	RefVoidRobotUtil ()

RobotUtil *	getRobotUtil (std::string &robotName)

bool	isNameInRobotUtil (std::string &robotName)

RobotUtil *	createRobotUtil (std::string &robotName)

bool	base_se3_to_sot (ConstRefVector pos, ConstRefMatrix R, RefVector q_sot)

Variables
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

Typedef Documentation

typedef const Eigen::Map<const MatrixRXd> dynamicgraph::sot::const_SigMatrixXd

typedef const Eigen::Map<const Eigen::VectorXd> dynamicgraph::sot::const_SigVectorXd

typedef const Eigen::Ref<const Eigen::MatrixXd> dynamicgraph::sot::ConstRefMatrix

typedef const Eigen::Ref<const Eigen::VectorXd>& dynamicgraph::sot::ConstRefVector

typedef NamedVector dynamicgraph::sot::ControlValues

typedef Eigen::VectorXd::Index dynamicgraph::sot::Index

typedef Mailbox<dynamicgraph::Vector> dynamicgraph::sot::MailboxVector

typedef Eigen::Matrix<double,6,6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixForce

typedef Eigen::Transform<double,3, Eigen::Affine> SOT_CORE_EXPORT dynamicgraph::sot::MatrixHomogeneous

typedef Eigen::Matrix<double,3,3> SOT_CORE_EXPORT dynamicgraph::sot::MatrixRotation

typedef Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> dynamicgraph::sot::MatrixRXd

typedef Eigen::Matrix<double,6,6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixTwist

typedef Eigen::Ref<Eigen::MatrixXd> dynamicgraph::sot::RefMatrix

typedef Eigen::Ref<Eigen::VectorXd> dynamicgraph::sot::RefVector

typedef NamedVector dynamicgraph::sot::SensorValues

typedef Eigen::Map<MatrixRXd> dynamicgraph::sot::SigMatrixXd

typedef Eigen::Map<Eigen::VectorXd> dynamicgraph::sot::SigVectorXd

typedef std::vector< MultiBound > dynamicgraph::sot::VectorMultiBound

typedef Eigen::Quaternion<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorQuaternion

typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRollPitchYaw

typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRotation

typedef Eigen::AngleAxis<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorUTheta

Enumeration Type Documentation

enum dynamicgraph::sot::ControlInput

Define the type of input expected by the robot.

Enumerator
CONTROL_INPUT_NO_INTEGRATION
CONTROL_INPUT_ONE_INTEGRATION
CONTROL_INPUT_TWO_INTEGRATION
CONTROL_INPUT_SIZE

Function Documentation

std::ostream& dynamicgraph::sot::__null_stream ( )

inline

bool dynamicgraph::sot::base_se3_to_sot	(	ConstRefVector	pos,
		ConstRefMatrix	R,
		RefVector	q_sot
	)

void dynamicgraph::sot::buildFrom	(	const MatrixHomogeneous &	MH,
		MatrixTwist &	MT
	)

inline

RobotUtil* dynamicgraph::sot::createRobotUtil ( std::string & robotName )

RobotUtil* dynamicgraph::sot::getRobotUtil ( std::string & robotName )

bool dynamicgraph::sot::isNameInRobotUtil ( std::string & robotName )

SOT_CORE_EXPORT std::ostream& dynamicgraph::sot::operator<<	(	std::ostream &	os,
		const VectorMultiBound &	v
	)

Referenced by dynamicgraph::sot::Constraint::getClassName(), dynamicgraph::sot::Sot::getNbDof(), and dynamicgraph::sot::ExceptionAbstract::~ExceptionAbstract().

SOT_CORE_EXPORT std::istream& dynamicgraph::sot::operator>>	(	std::istream &	os,
		VectorMultiBound &	v
	)

RobotUtil* dynamicgraph::sot::RefVoidRobotUtil ( )

void dynamicgraph::sot::sotDEBUGF	(	const int	,
		const char *	,
			...
	)

inline

void dynamicgraph::sot::sotDEBUGF	(	const char *	,
			...
	)

inline

void dynamicgraph::sot::sotERRORF	(	const int	,
		const char *	,
			...
	)

inline

void dynamicgraph::sot::sotERRORF	(	const char *	,
			...
	)

inline

void dynamicgraph::sot::sotTDEBUGF	(	const int	,
		const char *	,
			...
	)

inline

void dynamicgraph::sot::sotTDEBUGF	(	const char *	,
			...
	)

inline

Variable Documentation

const std::string dynamicgraph::sot::ControlInput_s[]

Initial value:

=
    {
      "noInteg", "oneInteg", "twoInteg"
    }

SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_1

Referenced by dynamicgraph::sot::FeatureVisualPoint::selectX(), and dynamicgraph::sot::FeaturePoint6d::selectX().

SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_2

Referenced by dynamicgraph::sot::FeatureVisualPoint::selectY(), and dynamicgraph::sot::FeaturePoint6d::selectY().

SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_3

Referenced by dynamicgraph::sot::FeaturePoint6d::selectZ().

SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_4

Referenced by dynamicgraph::sot::FeaturePoint6d::selectRX().

SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_5

Referenced by dynamicgraph::sot::FeaturePoint6d::selectRY().

SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_6

Referenced by dynamicgraph::sot::FeaturePoint6d::selectRZ().

SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_7

SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_8

SOT_CORE_EXPORT DebugTrace dynamicgraph::sot::sotDEBUGFLOW

SOT_CORE_EXPORT DebugTrace dynamicgraph::sot::sotERRORFLOW

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation