| ▼Ndynamic_graph | |
| ►Nsot | |
| ►Ncore | |
| ►Nmeta_task_posture | |
| CMetaTaskKinePosture | |
| CMetaTaskPosture | |
| ►Nmeta_task_visual_point | |
| CMetaTaskVisualPoint | |
| ►Nmeta_tasks | |
| CMetaTaskCom | |
| ►Nmeta_tasks_kine | |
| CMetaTaskKineCom | |
| ►Nutils | |
| ►Nattime | |
| CattimeAlways | |
| CattimeStop | |
| CCalendar | |
| ►Nhistory | |
| CHistory | |
| ►Nthread_interruptible_loop | |
| CThreadInterruptibleLoop | |
| ►Nviewer_helper | |
| CRobotViewerFaked | |
| CVisualPinger | |
| ►Nviewer_loger | |
| CViewerLoger | |
| ▼Ndynamicgraph | |
| ►Nsot | |
| ►Ncommand | |
| ►NclassSot | |
| CClear | |
| CDisplay | |
| CDown | |
| CList | |
| CPush | |
| CRemove | |
| CSetInitTrajectory | |
| CUp | |
| ►NfeatureJointLimits | |
| CActuate | |
| ►NmatrixConstant | |
| CResize | |
| ►Ntask | |
| CListFeatures | |
| ►NvectorConstant | |
| CResize | |
| CGetElement | |
| CSetElement | |
| ►Ncore | |
| CAdmittanceControlOpPoint | Admittance controller for an operational point wrt to a force sensor. It can be a point of the model (hand) or not (created operational point: an object in the hand of the robot) Which is closed to a force sensor (for instance the right or left wrist ft) |
| ►Ndetail | |
| Ccircular_buffer | |
| ►Ninternal | |
| CLG_t | |
| CSignal | |
| C__sotDebug_init | |
| CAbstractSotExternalInterface | |
| CAdderVariadic | |
| CAdditionalFunctions | This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities |
| CBinaryIntToUint | |
| CBinaryOp | |
| CBinaryOpHeader | |
| CBoolOp | |
| CCausalFilter | |
| CClampWorkspace | |
| CCoMFreezer | |
| CComparison | |
| CComposer | |
| CContiifstream | |
| CControlGR | |
| CControlPD | |
| CConvolutionTemporal | |
| CDebugTrace | |
| CDerivator | |
| CDevice | |
| CDiagonalizer | |
| CDoubleConstant | |
| CEvent | |
| CExceptionAbstract | |
| CExceptionDynamic | |
| CExceptionFactory | |
| CExceptionFeature | |
| CExceptionSignal | |
| CExceptionTask | |
| CExceptionTools | |
| CExpMovingAvg | |
| CExtractJointMimics | |
| CFeature1D | Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task |
| CFeatureAbstract | This class gives the abstract definition of a feature |
| CFeatureGeneric | Class that defines a generic implementation of the abstract interface for features |
| CFeatureJointLimits | Class that defines gradient vector for jl avoidance |
| CFeatureLineDistance | Class that defines point-3d control feature |
| CFeaturePose | Feature that controls the relative (or absolute) pose between two frames A (or world) and B |
| ►CFeaturePosture | |
| CSelectDof | |
| CFeatureReferenceHelper | |
| CFeatureTask | |
| CFeatureVector3 | Class that defines point-3d control feature |
| CFeatureVisualPoint | Class that defines 2D visualPoint visual feature |
| CFilterDifferentiator | |
| CFIRFilter | |
| CFlags | |
| CFootUtil | |
| CForceLimits | |
| CForceUtil | |
| CGainAdaptive | |
| CGainHyperbolic | Hyperbolic gain. It follows the law
![\[ g(e) = a \frac{\tanh(-b(||e|| - d)) + 1}{2} + c \]](form_63.png)
The default coefficients are: |
| CGradientAscent | |
| CGripperControl | The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept |
| CGripperControlPlugin | |
| CHandUtil | |
| CHeader | |
| CHomoToMatrix | |
| CHomoToRotation | |
| CHomoToTwist | |
| CIntegrator | |
| CIntegratorAbstract | Integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator |
| CIntegratorEuler | Integrates an ODE using a naive Euler integration. TODO: change the integration method. For the moment, the highest derivative of the output signal is computed using the previous values of the other derivatives and the input signal, then integrated n times, which will most certainly induce a huge drift for ODEs with a high order at the denominator |
| CInverser | |
| CInverserQuaternion | |
| CInverserRotation | |
| CJointLimitator | Filter control vector to avoid exceeding joint maximum values |
| CJointLimits | |
| CJointTrajectoryPoint | |
| CKalman | |
| CLatch | |
| CMadgwickAHRS | |
| CMailbox | |
| CMailboxTimestampedObject | |
| CMatrixColumnSelector | |
| CMatrixComparison | |
| CMatrixConstant | |
| CMatrixHomoToPose | |
| CMatrixHomoToPoseQuaternion | |
| CMatrixHomoToPoseRollPitchYaw | |
| CMatrixHomoToPoseUTheta | |
| CMatrixHomoToSE3Vector | |
| CMatrixSelector | |
| CMatrixToHomo | |
| CMatrixToQuaternion | |
| CMatrixToRPY | |
| CMatrixToUTheta | |
| CMatrixTranspose | |
| CMemoryTaskSOT | |
| ►CMotionPeriod | |
| CsotMotionParam | |
| CMultiBound | |
| CMultiplier | |
| CMultiplier_FxE__E | |
| CNamedVector | |
| CNeckLimitation | |
| CNormalize | |
| COpPointModifier | Compute position and jacobian of a local frame attached to a joint |
| CParameterServer | |
| ►CPeriodicCall | |
| CSignalToCall | |
| CPeriodicCallEntity | |
| CPoolStorage | This singleton class keep tracks of all features and tasks |
| CPoseQuaternionToMatrixHomo | |
| CPoseRollPitchYawToMatrixHomo | |
| CPoseRollPitchYawToPoseUTheta | |
| CPoseUThetaToMatrixHomo | |
| CQuaternionToMatrix | |
| CQuaternionToRPY | |
| CRobotSimu | |
| CRobotUtil | |
| CRPYToMatrix | |
| CRPYToQuaternion | |
| CRulesJointTrajectory | |
| CSE3VectorToMatrixHomo | |
| CSegment | |
| ►CSequencer | |
| CsotEventAbstract | |
| CSkewSymToVector | |
| CSmoothReach | |
| CSot | This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell |
| CSotJointTrajectoryEntity | This object handles trajectory of quantities and publish them as signals |
| CSotLoader | This class is loading the control part of the Stack-Of-Tasks |
| CSubstraction | |
| CSwitch | Switch |
| CTask | Class that defines the basic elements of a task |
| ►CTaskAbstract | |
| CMemoryTaskAbstract | |
| CTaskConti | |
| CTaskPD | |
| CTaskUnilateral | |
| CTimeStamp | |
| Ctimestamp | |
| CTrajectory | |
| CTypeNameHelper | |
| CUnaryOp | |
| CUnaryOpHeader | |
| CUThetaToQuaternion | |
| CVariadicAbstract | |
| CVariadicOp | |
| CVariadicOpHeader | |
| CVectorComponent | |
| CVectorConstant | |
| ►CVectorMix | |
| Csegment_t | |
| CVectorSelecter | |
| CVectorStack | |
| CVisualPointProjecter | |
| CWeightedAdder | |
| Csignal_io< sot::Flags > | |
| Csignal_io< sot::MailboxTimestampedObject< Object > > | |
| Csignal_io< sot::MultiBound > | |
| Csignal_io< sot::Trajectory > | |
| Csignal_io< timeval > | |
| ▼Ntest-imports | |
| CPythonImportTest | |
| ▼Ntest-initialize-euler | |
| COpPointModifierTest | |
| ▼Ntest-matrix-util | |
| CMatrixUtilTest | |
| ▼Ntest-op-point-modifier | |
| COpPointModifierTest | |
| ▼Ntest-parameter-server | |
| CTestParameterServer | |
| ▼Ntest-smooth-reach | |
| CSmoothReachTest | |
| CControlGR__INIT | |
| CDummySotExternalInterface | |
| CexposeVariadicOpImpl | |
| CexposeVariadicOpImpl< dgs::AdderVariadic< T > > | |
| CFeatureTestBase | |
| CMadgwickARHS | |
| CMotionPeriod | |
| CPlugin | |
| CPluginAbstract | |
| CPluginLoader | |
| CsotEventAddATask | |
| CsotEventCmd | |
| CsotEventRemoveATask | |
| CsotEventTaskBased | |
| CsotReader | |
| ▼CStopwatch | A class representing a stopwatch |
| CPerformanceData | |
| CStopwatchException | |
| CTestDevice | |
| CTestFeature | |
| CTestFeatureGeneric | |
| CTestFeaturePose | |
| CTestFixture | |
| CTimer | |