Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 1234]

▼Ndynamicgraph
►Nsot
►Ncommand
CSetElement
CGetElement
►Ncore
CAdmittanceControlOpPoint	Admittance controller for an operational point wrt to a force sensor. It can be a point of the model (hand) or not (created operational point: an object in the hand of the robot) Which is closed to a force sensor (for instance the right or left wrist ft)
►Ndetail
Ccircular_buffer
►Ninternal
CLG_t
CNamedVector
CAbstractSotExternalInterface
CAdditionalFunctions	This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities
CBinaryIntToUint
CBinaryOp
CCausalFilter
CClampWorkspace
CCoMFreezer
CContiifstream
CControlGR
CControlPD
CDebugTrace
CDerivator
CDevice
CDoubleConstant
CEvent
CExceptionAbstract
CExceptionDynamic
CExceptionFactory
CExceptionFeature
CExceptionSignal
CExceptionTask
CExceptionTools
CExpMovingAvg
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
CFeatureReferenceHelper
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
CFeaturePoint6dRelative	Class that defines the motion of a point of the body wrt. another point
CFeaturePoint6d	Class that defines point-6d control feature
CFeaturePose	Feature that controls the relative (or absolute) pose between two frames A (or world) and B
CFeaturePosture
CFeatureTask
CFeatureVector3	Class that defines point-3d control feature
CFeatureVisualPoint	Class that defines 2D visualPoint visual feature
CFilterDifferentiator
CFIRFilter
CFlags
CGainAdaptive
CGainHyperbolic	Hyperbolic gain. It follows the law
CGradientAscent
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
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
CSotJointTrajectoryEntity	This object handles trajectory of quantities and publish them as signals
CKalman
CLatch
CMadgwickAHRS
CMailboxTimestampedObject
CMailbox
CMatrixConstant
CMemoryTaskSOT
►CMotionPeriod
CsotMotionParam
CMultiBound
CNeckLimitation
COpPointModifier	Compute position and jacobian of a local frame attached to a joint
CParameterServer
CPeriodicCallEntity
►CPeriodicCall
CSignalToCall
CPoolStorage	This singleton class keep tracks of all features and tasks
CRobotSimu
CJointLimits
CExtractJointMimics
CForceLimits
CForceUtil
CFootUtil
CHandUtil
CRobotUtil
►CSequencer
CsotEventAbstract
CSmoothReach
CSotLoader	This class is loading the control part of the Stack-Of-Tasks
CSot	This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell
CSwitch	Switch
►CTaskAbstract
CMemoryTaskAbstract
CTaskConti
CTaskPD
CTaskUnilateral
CTask	Class that defines the basic elements of a task
CTimeStamp
CRulesJointTrajectory
Ctimestamp
CHeader
CJointTrajectoryPoint
CTrajectory
CUnaryOp
CVariadicAbstract
CVariadicOp
CVectorConstant
CVectorToRotation
CVisualPointProjecter
Csignal_io< sot::Flags >
Csignal_io< sot::MailboxTimestampedObject< Object > >
Csignal_io< timeval >
Csignal_io< sot::MultiBound >
Csignal_io< sot::Trajectory >
CMadgwickARHS
CMotionPeriod
CsotReader
▼CStopwatch	A class representing a stopwatch
CPerformanceData
CStopwatchException
CTimer