CKDL::ArticulatedBodyInertia | 6D Inertia of a articulated body |
CKDL::Chain | This class encapsulates a serial kinematic interconnection structure. It is built out of segments |
CKDL::checkBinary< OpID, A, B > | |
CKDL::checkBinary_displ< OpID, A, B > | |
CKDL::checkBinaryVel< OpID, A, B > | |
CKDL::checkUnary< OpID, A > | |
CKDL::checkUnaryVel< OpID, A > | |
►CKDL::Error | |
►CKDL::Error_ChainIO | |
CKDL::Error_Chain_Unexpected_id | |
►CKDL::Error_Criterium | |
CKDL::Error_Criterium_Unexpected_id | |
►CKDL::Error_Integrator | Abstract subclass of all errors that can be thrown by Adaptive_Integrator |
CKDL::Error_Stepsize_To_Small | Error_Stepsize_To_Small is thrown if the stepsize becomes to small |
CKDL::Error_Stepsize_Underflow | Error_Stepsize_Underflow is thrown if the stepsize becomes to small |
CKDL::Error_To_Many_Steps | |
►CKDL::Error_IO | |
►CKDL::Error_BasicIO | |
CKDL::Error_BasicIO_Exp_Delim | |
CKDL::Error_BasicIO_File | |
CKDL::Error_BasicIO_Not_A_Space | |
CKDL::Error_BasicIO_Not_Opened | |
CKDL::Error_BasicIO_ToBig | |
CKDL::Error_BasicIO_Unexpected | |
►CKDL::Error_FrameIO | |
CKDL::Error_Frame_Frame_Unexpected_id | |
CKDL::Error_Frame_Rotation_Unexpected_id | |
CKDL::Error_Frame_Vector_Unexpected_id | |
►CKDL::Error_RedundancyIO | Error_Redundancy indicates an error that occurred during solving for redundancy |
CKDL::Error_Redundancy_Illegal_Resolutiontype | |
►CKDL::Error_Limits | |
CKDL::Error_Limits_Unexpected_id | |
►CKDL::Error_MotionIO | |
CKDL::Error_MotionIO_Unexpected_MotProf | |
CKDL::Error_MotionIO_Unexpected_Traj | |
►CKDL::Error_MotionPlanning | |
CKDL::Error_MotionPlanning_Circle_No_Plane | |
CKDL::Error_MotionPlanning_Circle_ToSmall | |
CKDL::Error_MotionPlanning_Incompatible | |
CKDL::Error_MotionPlanning_Not_Applicable | |
CKDL::Error_MotionPlanning_Not_Feasible | |
CKDL::Error_Not_Implemented | |
►CKDL::Error_Redundancy | |
CKDL::Error_Redundancy_Low_Manip | |
CKDL::Error_Redundancy_Unavoidable | |
►Cexception | |
CKDL::Joint::joint_type_exception | |
CKDL::Frame | Frame transformation in 3D space (rotation + translation) |
CKDL::Frame2 | |
CKDL::FrameAcc | |
CKDL::FrameVel | |
CKDL::Jacobian | |
CKDL::JntArray | This class represents an fixed size array containing joint values of a KDL::Chain |
CKDL::JntArrayAcc | |
CKDL::JntArrayVel | |
CKDL::Joint | This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties |
►CKDL::Path | |
CKDL::Path_Circle | |
CKDL::Path_Composite | |
CKDL::Path_Cyclic_Closed | |
CKDL::Path_Line | |
CKDL::Path_Point | |
CKDL::Path_RoundedComposite | |
CKDL::Rall1d< T, V, S > | |
►CKDL::Rall1d< double > | |
CRallNd< 1 > | |
CRallNd< 1 > | |
►CKDL::Rall1d< Rall1d< T, FVector< T, N > >, FVector2< Rall1d< T, FVector< T, N > >, N, T >, T > | |
CRall2dN< T, N > | |
►CKDL::Rall1d< RallNd< N-1 >, RallNd< N-1 >, double > | |
CRallNd< N > | |
CRallNd< N-1 > | |
CRallNd< N-2 > | |
►CRall2d | |
CRallNd< 2 > | |
CKDL::Rall2d< T, V, S > | |
►CKDL::Rall2d< RallNd< N-2 >, RallNd< N-2 >, double > | |
CRallNd< N > | |
CRallNd< N-1 > | |
CRallNd< N-2 > | |
CKDL::RigidBodyInertia | 6D Inertia of a rigid body |
CKDL::Rotation | Rotations in 3 dimensional space |
CKDL::Rotation2 | |
CKDL::RotationAcc | |
CKDL::RotationalInertia | |
►CKDL::RotationalInterpolation | |
CKDL::RotationalInterpolation_SingleAxis | |
CKDL::RotationVel | |
CKDL::scoped_ptr< T > | |
CKDL::Segment | 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 |
CKDL::ChainHdSolver_Vereshchagin::segment_info | |
►CKDL::SolverI | |
CKDL::ChainDynParam | |
►CKDL::ChainFdSolver | This abstract class encapsulates the inverse dynamics solver for a KDL::Chain |
CKDL::ChainFdSolver_RNE | Recursive newton euler forward dynamics solver |
CKDL::ChainFkSolverAcc | This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain |
►CKDL::ChainFkSolverPos | This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain |
CKDL::ChainFkSolverPos_recursive | |
►CKDL::ChainFkSolverVel | This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain |
CKDL::ChainFkSolverVel_recursive | |
►CKDL::ChainHdSolver_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 |
CKDL::ChainIdSolver_Vereshchagin | |
►CKDL::ChainIdSolver | This abstract class encapsulates the inverse dynamics solver for a KDL::Chain |
CKDL::ChainIdSolver_RNE | Recursive newton euler inverse dynamics solver |
CKDL::ChainIkSolverAcc | This abstract class encapsulates the inverse acceleration solver for a KDL::Chain |
►CKDL::ChainIkSolverPos | This abstract class encapsulates the inverse position solver for a KDL::Chain |
CKDL::ChainIkSolverPos_LMA | Solver for the inverse position kinematics that uses Levenberg-Marquardt |
CKDL::ChainIkSolverPos_NR | |
CKDL::ChainIkSolverPos_NR_JL | |
►CKDL::ChainIkSolverVel | This abstract class encapsulates the inverse velocity solver for a KDL::Chain |
CKDL::ChainIkSolverVel_pinv | |
CKDL::ChainIkSolverVel_pinv_givens | |
CKDL::ChainIkSolverVel_pinv_nso | |
CKDL::ChainIkSolverVel_wdls | |
CKDL::ChainJntToJacDotSolver | Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation |
CKDL::ChainJntToJacSolver | Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers |
►CKDL::TreeIdSolver | This abstract class encapsulates the inverse dynamics solver for a KDL::Tree |
CKDL::TreeIdSolver_RNE | Recursive newton euler inverse dynamics solver for kinematic trees |
CKDL::Stiffness | |
CKDL::SVD_HH | |
►CTestFixture | |
CFramesTest | |
CInertiaTest | |
CJacobianDotTest | |
CJacobianTest | |
CKinFamTest | |
CSolverTest | |
CTreeInvDynTest | |
CVelocityProfileTest | |
CKDL::TI< T > | |
CKDL::TI< double > | |
CKDL::TI< int > | |
CTraits< T > | 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 > | |
►CKDL::Trajectory | |
CKDL::Trajectory_Composite | |
CKDL::Trajectory_Segment | |
CKDL::Trajectory_Stationary | |
CKDL::Tree | This class encapsulates a tree kinematic interconnection structure. It is built out of segments |
CKDL::TreeElement | |
►CKDL::TreeFkSolverPos | This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree |
CKDL::TreeFkSolverPos_recursive | |
►CKDL::TreeIkSolverPos | This abstract class encapsulates the inverse position solver for a KDL::Chain |
CKDL::TreeIkSolverPos_NR_JL | |
CKDL::TreeIkSolverPos_Online | |
►CKDL::TreeIkSolverVel | This abstract class encapsulates the inverse velocity solver for a KDL::Tree |
CKDL::TreeIkSolverVel_wdls | |
CKDL::TreeJntToJacSolver | |
CKDL::Twist | Both translational and rotational velocities |
CKDL::TwistAcc | |
CKDL::TwistVel | |
CKDL::Vector | A concrete implementation of a 3 dimensional vector class |
CKDL::Vector2 | 2D version of Vector |
CKDL::VectorAcc | |
CKDL::VectorVel | |
►CKDL::VelocityProfile | |
CKDL::VelocityProfile_Dirac | |
CKDL::VelocityProfile_Rectangular | |
CKDL::VelocityProfile_Spline | A spline VelocityProfile trajectory interpolation |
CKDL::VelocityProfile_Trap | |
CKDL::VelocityProfile_TrapHalf | |
CKDL::Wrench | Both translational and rotational acceleration |