Classes
class	CartesianJointConverter

struct	ColorT

struct	Convert

class	Endeffectors

class	EndeffectorsContact

class	EndeffectorsMotion

class	HyqlegInverseKinematics
	Converts a hyq foot position to joint angles. More...

class	InverseKinematics

class	InverseKinematicsHyq1
	Inverse Kinematics for one HyQ leg attached to a brick (base). More...

class	InverseKinematicsHyq2
	Inverse Kinematics for two HyQ legs attached to a brick (base). More...

class	InverseKinematicsHyq4
	Inverse kinematics function for the HyQ robot. More...

class	Joints

class	RobotStateCartesian

class	RobotStateJoint

class	RvizRobotBuilder

class	State3d

class	State3dEuler

class	StateAng3d

class	StateLin1d

class	StateLin2d

class	StateLin3d

class	StateLinXd

class	UrdfVisualizer

Typedefs
typedef uint	EndeffectorID

typedef uint	EndeffectorID

typedef Endeffectors< Eigen::Vector3d >	EndeffectorsAcc

typedef Endeffectors< Eigen::Vector3d >	EndeffectorsAcc

typedef Endeffectors< Eigen::Vector3d >	EndeffectorsPos

typedef Endeffectors< Eigen::Vector3d >	EndeffectorsPos

typedef Endeffectors< Eigen::Vector3d >	EndeffectorsVel

typedef Endeffectors< Eigen::Vector3d >	EndeffectorsVel

typedef Eigen::Quaterniond	Quaterniond

typedef Eigen::Quaterniond	Quaterniond

typedef Eigen::Vector2d	Vector2d

typedef Eigen::Vector2d	Vector2d

typedef Eigen::Vector3d	Vector3d

typedef Eigen::Vector3d	Vector3d

typedef Eigen::Matrix< double, 6, 1 >	Vector6d

typedef Eigen::Matrix< double, 6, 1 >	Vector6d

typedef Eigen::VectorXd	VectorXd

typedef Eigen::VectorXd	VectorXd

Enumerations
enum	Coords2D

enum	Coords2D

enum	Coords3D

enum	Coords3D

enum	Coords6D

enum	Coords6D

enum	HyqJointID { HAA =0, HFE, KFE, HyqlegJointCount }

enum	MotionDerivative

enum	MotionDerivative

Functions
static Vector3d	GetEulerZYXAngles (const Quaterniond &q)

static Quaterniond	GetQuaternionFromEulerZYX (double yaw, double pitch, double roll)

StateLinXd	operator* (double mult, const StateLinXd &rhs)

StateLinXd	operator+ (const StateLinXd &lhs, const StateLinXd &rhs)

std::ostream &	operator<< (std::ostream &out, const StateAng3d &ori)

std::ostream &	operator<< (std::ostream &out, const StateLinXd &pos)

std::ostream &	operator<< (std::ostream &out, const State3d &pose)

std::ostream &	operator<< (std::ostream &stream, Endeffectors< T > endeffectors)

static Coords2D	To2D (Coords3D dim)

Enumeration Type Documentation

Namespaces