►NKDL | |
CArticulatedBodyInertia | 6D Inertia of a articulated body |
CChain | This class encapsulates a serial kinematic interconnection structure. It is built out of segments |
CChainDynParam | |
CChainFdSolver | This abstract class encapsulates the inverse dynamics solver for a KDL::Chain |
CChainFdSolver_RNE | Recursive newton euler forward dynamics solver |
CChainFkSolverAcc | This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain |
CChainFkSolverPos | This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain |
CChainFkSolverPos_recursive | |
CChainFkSolverVel | This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain |
CChainFkSolverVel_recursive | |
►CChainHdSolver_Vereshchagin | Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 1989. This class creates an instance of the hybrid dynamics solver. The solver analytically calculates the joint space constraint torques and acceleration in a chain when a constraint force(s) is applied to the chain's end-effector (task space / cartesian space). In the robotics literature, this algorithm is also known under the following names: Acceleration Constrained Hybrid Dynamics (ACHD) and Popov-Vereshchagin solver |
Csegment_info | |
CChainIdSolver | This abstract class encapsulates the inverse dynamics solver for a KDL::Chain |
CChainIdSolver_RNE | Recursive newton euler inverse dynamics solver |
CChainIdSolver_Vereshchagin | |
CChainIkSolverAcc | This abstract class encapsulates the inverse acceleration solver for a KDL::Chain |
CChainIkSolverPos | This abstract class encapsulates the inverse position solver for a KDL::Chain |
CChainIkSolverPos_LMA | Solver for the inverse position kinematics that uses Levenberg-Marquardt |
CChainIkSolverPos_NR | |
CChainIkSolverPos_NR_JL | |
CChainIkSolverVel | This abstract class encapsulates the inverse velocity solver for a KDL::Chain |
CChainIkSolverVel_pinv | |
CChainIkSolverVel_pinv_givens | |
CChainIkSolverVel_pinv_nso | |
CChainIkSolverVel_wdls | |
CChainJntToJacDotSolver | Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation |
CChainJntToJacSolver | Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers |
CcheckBinary | |
CcheckBinary_displ | |
CcheckBinaryVel | |
CcheckUnary | |
CcheckUnaryVel | |
CError | |
CError_BasicIO | |
CError_BasicIO_Exp_Delim | |
CError_BasicIO_File | |
CError_BasicIO_Not_A_Space | |
CError_BasicIO_Not_Opened | |
CError_BasicIO_ToBig | |
CError_BasicIO_Unexpected | |
CError_Chain_Unexpected_id | |
CError_ChainIO | |
CError_Criterium | |
CError_Criterium_Unexpected_id | |
CError_Frame_Frame_Unexpected_id | |
CError_Frame_Rotation_Unexpected_id | |
CError_Frame_Vector_Unexpected_id | |
CError_FrameIO | |
CError_Integrator | Abstract subclass of all errors that can be thrown by Adaptive_Integrator |
CError_IO | |
CError_Limits | |
CError_Limits_Unexpected_id | |
CError_MotionIO | |
CError_MotionIO_Unexpected_MotProf | |
CError_MotionIO_Unexpected_Traj | |
CError_MotionPlanning | |
CError_MotionPlanning_Circle_No_Plane | |
CError_MotionPlanning_Circle_ToSmall | |
CError_MotionPlanning_Incompatible | |
CError_MotionPlanning_Not_Applicable | |
CError_MotionPlanning_Not_Feasible | |
CError_Not_Implemented | |
CError_Redundancy | |
CError_Redundancy_Illegal_Resolutiontype | |
CError_Redundancy_Low_Manip | |
CError_Redundancy_Unavoidable | |
CError_RedundancyIO | Error_Redundancy indicates an error that occurred during solving for redundancy |
CError_Stepsize_To_Small | Error_Stepsize_To_Small is thrown if the stepsize becomes to small |
CError_Stepsize_Underflow | Error_Stepsize_Underflow is thrown if the stepsize becomes to small |
CError_To_Many_Steps | |
CFrame | Frame transformation in 3D space (rotation + translation) |
CFrame2 | |
CFrameAcc | |
CFrameVel | |
CJacobian | |
CJntArray | This class represents an fixed size array containing joint values of a KDL::Chain |
CJntArrayAcc | |
CJntArrayVel | |
►CJoint | This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties |
Cjoint_type_exception | |
CPath | |
CPath_Circle | |
CPath_Composite | |
CPath_Cyclic_Closed | |
CPath_Line | |
CPath_Point | |
CPath_RoundedComposite | |
CRall1d | |
CRall2d | |
CRigidBodyInertia | 6D Inertia of a rigid body |
CRotation | Rotations in 3 dimensional space |
CRotation2 | |
CRotationAcc | |
CRotationalInertia | |
CRotationalInterpolation | |
CRotationalInterpolation_SingleAxis | |
CRotationVel | |
Cscoped_ptr | |
CSegment | This class encapsulates a simple segment, that is a "rigid
body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments |
CSolverI | |
CStiffness | |
CSVD_HH | |
CTI | |
CTI< double > | |
CTI< int > | |
CTrajectory | |
CTrajectory_Composite | |
CTrajectory_Segment | |
CTrajectory_Stationary | |
CTree | This class encapsulates a tree kinematic interconnection structure. It is built out of segments |
CTreeElement | |
CTreeFkSolverPos | This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree |
CTreeFkSolverPos_recursive | |
CTreeIdSolver | This abstract class encapsulates the inverse dynamics solver for a KDL::Tree |
CTreeIdSolver_RNE | Recursive newton euler inverse dynamics solver for kinematic trees |
CTreeIkSolverPos | This abstract class encapsulates the inverse position solver for a KDL::Chain |
CTreeIkSolverPos_NR_JL | |
CTreeIkSolverPos_Online | |
CTreeIkSolverVel | This abstract class encapsulates the inverse velocity solver for a KDL::Tree |
CTreeIkSolverVel_wdls | |
CTreeJntToJacSolver | |
CTwist | Both translational and rotational velocities |
CTwistAcc | |
CTwistVel | |
CVector | A concrete implementation of a 3 dimensional vector class |
CVector2 | 2D version of Vector |
CVectorAcc | |
CVectorVel | |
CVelocityProfile | |
CVelocityProfile_Dirac | |
CVelocityProfile_Rectangular | |
CVelocityProfile_Spline | A spline VelocityProfile trajectory interpolation |
CVelocityProfile_Trap | |
CVelocityProfile_TrapHalf | |
CWrench | Both translational and rotational acceleration |
CFramesTest | |
CInertiaTest | |
CJacobianDotTest | |
CJacobianTest | |
CKinFamTest | |
CRall2dN | |
CRallNd | |
CRallNd< 1 > | |
CRallNd< 2 > | |
CSolverTest | |
CTraits | Traits are traits classes to determine the type of a derivative of another type |
CTraits< double > | |
CTraits< float > | |
CTraits< KDL::doubleVel > | |
CTraits< KDL::Frame > | |
CTraits< KDL::FrameVel > | |
CTraits< KDL::Rotation > | |
CTraits< KDL::RotationVel > | |
CTraits< KDL::Twist > | |
CTraits< KDL::TwistVel > | |
CTraits< KDL::Vector > | |
CTraits< KDL::VectorVel > | |
CTraits< KDL::Wrench > | |
CTreeInvDynTest | |
CVelocityProfileTest | |