xpp::CartesianJointConverter | Converts a Cartesian robot representation to joint angles |
xpp::ColorT | Supplies some predefined colors to be used for RVIZ markers |
xpp::InverseKinematics | Converts Cartesian endeffector positions into joint angles |
xpp::RvizRobotBuilder | Constructs RVIZ markers that visualize a Cartesian robot state |
xpp::UrdfVisualizer | Publishes RVIZ transforms used to visualize a robot's URDF |