►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. It should not be used outside of KDL |

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 | |