Namespaces
	command

	core

	detail

	internal

Classes
class	__sotDebug_init

class	AbstractSotExternalInterface

struct	AdderVariadic

class	AdditionalFunctions
	This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities. More...

class	BinaryIntToUint

class	BinaryOp

struct	BinaryOpHeader

struct	BoolOp

class	CausalFilter

class	ClampWorkspace

class	CoMFreezer

struct	Comparison

struct	Composer

class	Contiifstream

class	ControlGR

class	ControlPD

struct	ConvolutionTemporal

class	DebugTrace

class	Derivator

class	Device

struct	Diagonalizer

class	DoubleConstant

class	Event

class	ExceptionAbstract

class	ExceptionDynamic

class	ExceptionFactory

class	ExceptionFeature

class	ExceptionSignal

class	ExceptionTask

class	ExceptionTools

class	ExpMovingAvg

class	ExtractJointMimics

class	Feature1D
	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. More...

class	FeatureAbstract
	This class gives the abstract definition of a feature. More...

class	FeatureGeneric
	Class that defines a generic implementation of the abstract interface for features. More...

class	FeatureJointLimits
	Class that defines gradient vector for jl avoidance. More...

class	FeatureLineDistance
	Class that defines point-3d control feature. More...

class	FeaturePose
	Feature that controls the relative (or absolute) pose between two frames A (or world) and B. More...

class	FeaturePosture

class	FeatureReferenceHelper

class	FeatureTask

class	FeatureVector3
	Class that defines point-3d control feature. More...

class	FeatureVisualPoint
	Class that defines 2D visualPoint visual feature. More...

class	FilterDifferentiator

class	FIRFilter

class	Flags

struct	FootUtil

struct	ForceLimits

struct	ForceUtil

class	GainAdaptive

class	GainHyperbolic
	Hyperbolic gain. It follows the law. More...

class	GradientAscent

class	GripperControl
	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. More...

class	GripperControlPlugin

struct	HandUtil

class	Header

struct	HomoToMatrix

struct	HomoToRotation

struct	HomoToTwist

class	Integrator

class	IntegratorAbstract
	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. More...

class	IntegratorEuler
	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. More...

struct	Inverser

struct	InverserQuaternion

struct	InverserRotation

class	JointLimitator
	Filter control vector to avoid exceeding joint maximum values. More...

struct	JointLimits

class	JointTrajectoryPoint

class	Kalman

class	Latch

struct	MatrixColumnSelector

struct	MatrixComparison

class	MatrixConstant

struct	MatrixHomoToPose

struct	MatrixHomoToPoseQuaternion

struct	MatrixHomoToPoseRollPitchYaw

struct	MatrixHomoToPoseUTheta

struct	MatrixHomoToSE3Vector

struct	MatrixSelector

struct	MatrixToHomo

struct	MatrixToQuaternion

struct	MatrixToRPY

struct	MatrixToUTheta

struct	MatrixTranspose

class	MemoryTaskSOT

class	MotionPeriod

class	MultiBound

struct	Multiplier

struct	Multiplier_FxE__E

class	NamedVector

class	NeckLimitation

struct	Normalize

class	OpPointModifier
	Compute position and jacobian of a local frame attached to a joint. More...

class	ParameterServer

class	PeriodicCall

class	PeriodicCallEntity

class	PoolStorage
	This singleton class keep tracks of all features and tasks. More...

struct	PoseQuaternionToMatrixHomo

struct	PoseRollPitchYawToMatrixHomo

struct	PoseRollPitchYawToPoseUTheta

struct	PoseUThetaToMatrixHomo

struct	QuaternionToMatrix

struct	QuaternionToRPY

class	RobotSimu

struct	RobotUtil

struct	RPYToMatrix

struct	RPYToQuaternion

class	RulesJointTrajectory

struct	SE3VectorToMatrixHomo

class	Segment

class	Sequencer

struct	SkewSymToVector

class	SmoothReach

class	Sot
	This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. More...

class	SotJointTrajectoryEntity
	This object handles trajectory of quantities and publish them as signals. More...

class	SotLoader
	This class is loading the control part of the Stack-Of-Tasks. More...

class	sotReader

struct	Substraction

class	Switch
	Switch. More...

class	Task
	Class that defines the basic elements of a task. More...

class	TaskAbstract

class	TaskConti

class	TaskPD

class	TaskUnilateral

class	timestamp

class	TimeStamp

class	Trajectory

struct	TypeNameHelper

class	UnaryOp

struct	UnaryOpHeader

struct	UThetaToQuaternion

class	VariadicAbstract

class	VariadicOp

struct	VariadicOpHeader

struct	VectorComponent

class	VectorConstant

struct	VectorMix

struct	VectorSelecter

struct	VectorStack

class	VisualPointProjecter

struct	WeightedAdder

Typedefs
typedef NamedVector	ControlValues

typedef FilterDifferentiator	EntityClassName

typedef FeaturePose< R3xSO3Representation >	FeaturePose_t

typedef FeaturePose< SE3Representation >	FeaturePoseSE3_t

typedef Eigen::VectorXd::Index	Index

typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT	MatrixForce

typedef Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT	MatrixHomogeneous

typedef Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT	MatrixRotation

typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	MatrixRXd

typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT	MatrixTwist

typedef Multiplier_FxE__E< double, dynamicgraph::Vector >	Multiplier_double_vector

typedef Multiplier_FxE__E< dynamicgraph::Matrix, dynamicgraph::Vector >	Multiplier_matrix_vector

typedef Multiplier_FxE__E< MatrixHomogeneous, dynamicgraph::Vector >	Multiplier_matrixHomo_vector

typedef Multiplier_FxE__E< MatrixTwist, dynamicgraph::Vector >	Multiplier_matrixTwist_vector

typedef Eigen::Quaternion< double > SOT_CORE_EXPORT	Quaternion

typedef Eigen::Map< Quaternion > SOT_CORE_EXPORT	QuaternionMap

typedef pinocchio::CartesianProductOperation< pinocchio::VectorSpaceOperationTpl< 3, double >, pinocchio::SpecialOrthogonalOperationTpl< 3, double > >	R3xSO3_t

typedef Eigen::Ref< Eigen::MatrixXd >	RefMatrix

typedef Eigen::Ref< Eigen::VectorXd >	RefVector

typedef std::shared_ptr< RobotUtil >	RobotUtilShrPtr
	Accessors - This should be changed to RobotUtilPtrShared. More...

typedef pinocchio::SpecialEuclideanOperationTpl< 3, double >	SE3_t

typedef NamedVector	SensorValues

typedef Eigen::Map< MatrixRXd >	SigMatrixXd

typedef Eigen::Map< Eigen::VectorXd >	SigVectorXd

typedef Switch< bool, sigtime_t >	SwitchBool

typedef Switch< MatrixHomogeneous, sigtime_t >	SwitchMatrixHomogeneous

typedef Switch< Vector, sigtime_t >	SwitchVector

typedef Eigen::Matrix< double, 7, 1 > SOT_CORE_EXPORT	Vector7

typedef std::vector< MultiBound >	VectorMultiBound

typedef Eigen::Quaternion< double > SOT_CORE_EXPORT	VectorQuaternion

typedef Eigen::Vector3d SOT_CORE_EXPORT	VectorRollPitchYaw

typedef Eigen::Vector3d SOT_CORE_EXPORT	VectorRotation

typedef Eigen::AngleAxis< double > SOT_CORE_EXPORT	VectorUTheta

Enumerations
enum	ControlInput { POSITION_CONTROL = 0, VELOCITY_CONTROL = 1, TORQUE_CONTROL = 2, CONTROL_SIZE = 3 }
	Define the type of input expected by the robot. More...

enum	Representation_t { SE3Representation, R3xSO3Representation }
	Enum used to specify what difference operation is used in FeaturePose. More...

Functions
std::ostream &	__null_stream ()

bool	base_se3_to_sot (ConstRefVector pos, ConstRefMatrix R, RefVector q_sot)

bool	base_sot_to_urdf (ConstRefVector q_sot, RefVector q_urdf)

bool	base_urdf_to_sot (ConstRefVector q_urdf, RefVector q_sot)

void	buildFrom (const MatrixHomogeneous &MH, MatrixTwist &MT)

template<typename T >
Vector6d	convertVelocity (const MatrixHomogeneous &M, const MatrixHomogeneous &Mdes, const Vector &faNufafbDes)

RobotUtilShrPtr	createRobotUtil (std::string &robotName)

	DEFINE_SIGNAL_INNER_FUNCTION (x_dx_ddx, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (ddx, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (dx, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (x_filtered, dynamicgraph::Vector)

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DoubleConstant, "DoubleConstant")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Event, "Event")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ExpMovingAvg, "ExpMovingAvg")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FeaturePosture, "FeaturePosture")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FilterDifferentiator, "FilterDifferentiator")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (GradientAscent, "GradientAscent")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Integrator, "Integrator")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Kalman, "Kalman")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Latch, "Latch")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ParameterServer, "ParameterServer")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RobotSimu, "RobotSimu")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Segment, "Segment")

template<>
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SwitchBool, "SwitchBoolean")

template<>
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SwitchMatrixHomogeneous, "SwitchMatrixHomogeneous")

template<>
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SwitchVector, "SwitchVector")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (VisualPointProjecter, "VisualPointProjecter")

std::string	force_default_rtn ("Force name not found")

std::shared_ptr< std::vector< std::string > >	getListOfRobots ()

RobotUtilShrPtr	getRobotUtil (std::string &robotName)

bool	isNameInRobotUtil (std::string &robotName)

std::string	joint_default_rtn ("Joint name not found")

Flags	operator& (const Flags &f1, const Flags &f2)

ostream &	operator<< (ostream &os, const ExceptionAbstract &error)

std::ostream &	operator<< (std::ostream &os, const Flags &fl)

std::ostream &	operator<< (std::ostream &os, const MultiBound &m)

SOT_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const VectorMultiBound &v)

std::istream &	operator>> (std::istream &is, Flags &fl)

std::istream &	operator>> (std::istream &is, MultiBound &m)

SOT_CORE_EXPORT std::istream &	operator>> (std::istream &os, VectorMultiBound &v)

Flags	operator\| (const Flags &f1, const Flags &f2)

RobotUtilShrPtr	RefVoidRobotUtil ()

	REGISTER_BINARY_OP (Comparison< double >, CompareDouble)

	REGISTER_BINARY_OP (Composer, Compose_R_and_T)

	REGISTER_BINARY_OP (ConvolutionTemporal, ConvolutionTemporal)

	REGISTER_BINARY_OP (MatrixComparison< Vector >, CompareVector)

	REGISTER_BINARY_OP (Multiplier_double_vector, Multiply_double_vector)

	REGISTER_BINARY_OP (Multiplier_matrix_vector, Multiply_matrix_vector)

	REGISTER_BINARY_OP (Multiplier_matrixHomo_vector, Multiply_matrixHomo_vector)

	REGISTER_BINARY_OP (Multiplier_matrixTwist_vector, Multiply_matrixTwist_vector)

	REGISTER_BINARY_OP (Substraction< double >, Substract_of_double)

	REGISTER_BINARY_OP (Substraction< dynamicgraph::Matrix >, Substract_of_matrix)

	REGISTER_BINARY_OP (Substraction< dynamicgraph::Vector >, Substract_of_vector)

	REGISTER_BINARY_OP (VectorStack, Stack_of_vector)

	REGISTER_BINARY_OP (WeightedAdder< double >, WeightAdd_of_double)

	REGISTER_BINARY_OP (WeightedAdder< dynamicgraph::Matrix >, WeightAdd_of_matrix)

	REGISTER_BINARY_OP (WeightedAdder< dynamicgraph::Vector >, WeightAdd_of_vector)

	REGISTER_UNARY_OP (Diagonalizer, MatrixDiagonal)

	REGISTER_UNARY_OP (HomoToMatrix, HomoToMatrix)

	REGISTER_UNARY_OP (HomoToRotation, HomoToRotation)

	REGISTER_UNARY_OP (HomoToTwist, HomoToTwist)

	REGISTER_UNARY_OP (Inverser< Matrix >, Inverse_of_matrix)

	REGISTER_UNARY_OP (Inverser< MatrixHomogeneous >, Inverse_of_matrixHomo)

	REGISTER_UNARY_OP (Inverser< MatrixTwist >, Inverse_of_matrixtwist)

	REGISTER_UNARY_OP (InverserQuaternion, Inverse_of_unitquat)

	REGISTER_UNARY_OP (InverserRotation, Inverse_of_matrixrotation)

	REGISTER_UNARY_OP (MatrixColumnSelector, Selec_column_of_matrix)

	REGISTER_UNARY_OP (MatrixHomoToPose, MatrixHomoToPose)

	REGISTER_UNARY_OP (MatrixHomoToPoseQuaternion, MatrixHomoToPoseQuaternion)

	REGISTER_UNARY_OP (MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseRollPitchYaw)

	REGISTER_UNARY_OP (MatrixHomoToPoseUTheta, MatrixHomoToPoseUTheta)

	REGISTER_UNARY_OP (MatrixHomoToSE3Vector, MatrixHomoToSE3Vector)

	REGISTER_UNARY_OP (MatrixSelector, Selec_of_matrix)

	REGISTER_UNARY_OP (MatrixToHomo, MatrixToHomo)

	REGISTER_UNARY_OP (MatrixToQuaternion, MatrixToQuaternion)

	REGISTER_UNARY_OP (MatrixToRPY, MatrixToRPY)

	REGISTER_UNARY_OP (MatrixToUTheta, MatrixToUTheta)

	REGISTER_UNARY_OP (MatrixTranspose, MatrixTranspose)

	REGISTER_UNARY_OP (Normalize, Norm_of_vector)

	REGISTER_UNARY_OP (PoseQuaternionToMatrixHomo, PoseQuaternionToMatrixHomo)

	REGISTER_UNARY_OP (PoseRollPitchYawToMatrixHomo, PoseRollPitchYawToMatrixHomo)

	REGISTER_UNARY_OP (PoseRollPitchYawToPoseUTheta, PoseRollPitchYawToPoseUTheta)

	REGISTER_UNARY_OP (PoseUThetaToMatrixHomo, PoseUThetaToMatrixHomo)

	REGISTER_UNARY_OP (QuaternionToMatrix, QuaternionToMatrix)

	REGISTER_UNARY_OP (QuaternionToRPY, QuaternionToRPY)

	REGISTER_UNARY_OP (RPYToMatrix, RPYToMatrix)

	REGISTER_UNARY_OP (RPYToQuaternion, RPYToQuaternion)

	REGISTER_UNARY_OP (SE3VectorToMatrixHomo, SE3VectorToMatrixHomo)

	REGISTER_UNARY_OP (SkewSymToVector, SkewSymToVector)

	REGISTER_UNARY_OP (UThetaToQuaternion, UThetaToQuaternion)

	REGISTER_UNARY_OP (VectorComponent, Component_of_vector)

	REGISTER_UNARY_OP (VectorSelecter, Selec_of_vector)

	REGISTER_VARIADIC_OP (AdderVariadic< double >, Add_of_double)

	REGISTER_VARIADIC_OP (AdderVariadic< Matrix >, Add_of_matrix)

	REGISTER_VARIADIC_OP (AdderVariadic< Vector >, Add_of_vector)

	REGISTER_VARIADIC_OP (BoolOp< 0 >, And)

	REGISTER_VARIADIC_OP (BoolOp< 1 >, Or)

	REGISTER_VARIADIC_OP (Multiplier< double >, Multiply_of_double)

	REGISTER_VARIADIC_OP (Multiplier< Matrix >, Multiply_of_matrix)

	REGISTER_VARIADIC_OP (Multiplier< MatrixHomogeneous >, Multiply_of_matrixHomo)

	REGISTER_VARIADIC_OP (Multiplier< MatrixRotation >, Multiply_of_matrixrotation)

	REGISTER_VARIADIC_OP (Multiplier< MatrixTwist >, Multiply_of_matrixtwist)

	REGISTER_VARIADIC_OP (Multiplier< Vector >, Multiply_of_vector)

	REGISTER_VARIADIC_OP (Multiplier< VectorQuaternion >, Multiply_of_quaternion)

	REGISTER_VARIADIC_OP (VectorMix, Mix_of_vector)

	SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN (FIRFilter, double, double, double_double, "FIRFilter") SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(FIRFilter

FIRFilter	SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN (FIRFilter, Vector, Matrix, vec_mat, "FIRFilter") template<> void FIRFilter< Vector

	SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER (IntegratorEuler, double, double, "IntegratorEulerDoubleDouble") SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler

IntegratorEulerVectorMatrix	SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER (IntegratorEuler, Vector, double, "IntegratorEulerVectorDouble") template class IntegratorEuler< double

void	sotDEBUGF (const char *,...)

void	sotDEBUGF (const size_type, const char *,...)

DebugTrace	sotDEBUGFLOW (debugfile)

void	sotERRORF (const char *,...)

void	sotERRORF (const size_type, const char *,...)

DebugTrace	sotERRORFLOW (debugfile)

void	sotTDEBUGF (const char *,...)

void	sotTDEBUGF (const size_type, const char *,...)

Index	VoidIndex (-1)

Variables
__sotDebug_init	__sotDebug_initialisator

const typedef Eigen::Map< const MatrixRXd >	const_SigMatrixXd

const typedef Eigen::Map< const Eigen::VectorXd >	const_SigVectorXd

const typedef Eigen::Ref< const Eigen::MatrixXd >	ConstRefMatrix

const typedef Eigen::Ref< const Eigen::VectorXd > &	ConstRefVector

const std::string	ControlInput_s [] = {"noInteg", "oneInteg", "twoInteg"}

std::ofstream	debugfile

	double

	Matrix

static std::map< std::string, RobotUtilShrPtr >	sgl_map_name_to_robot_util

SOT_CORE_EXPORT DebugTrace	sotDEBUGFLOW

SOT_CORE_EXPORT DebugTrace	sotERRORFLOW

	vec_double

	Vector

ForceLimits	VoidForceLimits

JointLimits	VoidJointLimits

Detailed Description

This is the namespace for a subset of helperd classes related to the implementation of the Stack-Of-Tasks.

Typedef Documentation

◆ ControlValues

typedef NamedVector dynamicgraph::sot::ControlValues

Definition at line 39 of file abstract-sot-external-interface.hh.

◆ EntityClassName

typedef ParameterServer dynamicgraph::sot::EntityClassName

Define EntityClassName here rather than in the header file so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.

Definition at line 49 of file filter-differentiator.cpp.

◆ FeaturePose_t

typedef FeaturePose<R3xSO3Representation> dynamicgraph::sot::FeaturePose_t

Definition at line 169 of file feature-pose.hh.

◆ FeaturePoseSE3_t

typedef FeaturePose<SE3Representation> dynamicgraph::sot::FeaturePoseSE3_t

Definition at line 170 of file feature-pose.hh.

◆ Index

typedef Eigen::VectorXd::Index dynamicgraph::sot::Index

Definition at line 39 of file robot-utils.hh.

◆ MatrixForce

typedef Eigen::Matrix<double, 6, 6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixForce

Definition at line 81 of file matrix-geometry.hh.

◆ MatrixHomogeneous

typedef Eigen::Transform<double, 3, Eigen::Affine> SOT_CORE_EXPORT dynamicgraph::sot::MatrixHomogeneous

Definition at line 75 of file matrix-geometry.hh.

◆ MatrixRotation

typedef Eigen::Matrix<double, 3, 3> SOT_CORE_EXPORT dynamicgraph::sot::MatrixRotation

Definition at line 76 of file matrix-geometry.hh.

◆ MatrixRXd

typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> dynamicgraph::sot::MatrixRXd

Definition at line 63 of file matrix-geometry.hh.

◆ MatrixTwist

typedef Eigen::Matrix<double, 6, 6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixTwist

Definition at line 82 of file matrix-geometry.hh.

◆ Multiplier_double_vector

typedef Multiplier_FxE__E<double, dynamicgraph::Vector> dynamicgraph::sot::Multiplier_double_vector

Definition at line 578 of file operator.hh.

◆ Multiplier_matrix_vector

typedef Multiplier_FxE__E<dynamicgraph::Matrix, dynamicgraph::Vector> dynamicgraph::sot::Multiplier_matrix_vector

Definition at line 580 of file operator.hh.

◆ Multiplier_matrixHomo_vector

typedef Multiplier_FxE__E<MatrixHomogeneous, dynamicgraph::Vector> dynamicgraph::sot::Multiplier_matrixHomo_vector

Definition at line 582 of file operator.hh.

◆ Multiplier_matrixTwist_vector

typedef Multiplier_FxE__E<MatrixTwist, dynamicgraph::Vector> dynamicgraph::sot::Multiplier_matrixTwist_vector

Definition at line 584 of file operator.hh.

◆ Quaternion

typedef Eigen::Quaternion<double> SOT_CORE_EXPORT dynamicgraph::sot::Quaternion

Definition at line 85 of file matrix-geometry.hh.

◆ QuaternionMap

typedef Eigen::Map<Quaternion> SOT_CORE_EXPORT dynamicgraph::sot::QuaternionMap

Definition at line 86 of file matrix-geometry.hh.

◆ R3xSO3_t

typedef pinocchio::CartesianProductOperation< pinocchio::VectorSpaceOperationTpl<3, double>, pinocchio::SpecialOrthogonalOperationTpl<3, double> > dynamicgraph::sot::R3xSO3_t

Definition at line 44 of file test_feature_generic.cpp.

◆ RefMatrix

typedef Eigen::Ref<Eigen::MatrixXd> dynamicgraph::sot::RefMatrix

Definition at line 71 of file matrix-geometry.hh.

◆ RefVector

typedef Eigen::Ref<Eigen::VectorXd> dynamicgraph::sot::RefVector

Definition at line 69 of file matrix-geometry.hh.

◆ RobotUtilShrPtr

typedef std::shared_ptr<RobotUtil> dynamicgraph::sot::RobotUtilShrPtr

Accessors - This should be changed to RobotUtilPtrShared.

Definition at line 300 of file robot-utils.hh.

◆ SE3_t

typedef pinocchio::SpecialEuclideanOperationTpl<3, double> dynamicgraph::sot::SE3_t

Definition at line 45 of file test_feature_generic.cpp.

◆ SensorValues

typedef NamedVector dynamicgraph::sot::SensorValues

Definition at line 38 of file abstract-sot-external-interface.hh.

◆ SigMatrixXd

typedef Eigen::Map<MatrixRXd> dynamicgraph::sot::SigMatrixXd

Definition at line 64 of file matrix-geometry.hh.

◆ SigVectorXd

typedef Eigen::Map<Eigen::VectorXd> dynamicgraph::sot::SigVectorXd

Definition at line 65 of file matrix-geometry.hh.

◆ SwitchBool

typedef Switch<bool, sigtime_t> dynamicgraph::sot::SwitchBool

Definition at line 29 of file switch.cpp.

◆ SwitchMatrixHomogeneous

typedef Switch<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::SwitchMatrixHomogeneous

Definition at line 36 of file switch.cpp.

◆ SwitchVector

typedef Switch<Vector, sigtime_t> dynamicgraph::sot::SwitchVector

Definition at line 23 of file switch.cpp.

◆ Vector7

typedef Eigen::Matrix<double, 7, 1> SOT_CORE_EXPORT dynamicgraph::sot::Vector7

Definition at line 84 of file matrix-geometry.hh.

◆ VectorMultiBound

typedef std::vector<MultiBound> dynamicgraph::sot::VectorMultiBound

Definition at line 72 of file multi-bound.hh.

◆ VectorQuaternion

typedef Eigen::Quaternion<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorQuaternion

Definition at line 78 of file matrix-geometry.hh.

◆ VectorRollPitchYaw

typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRollPitchYaw

Definition at line 80 of file matrix-geometry.hh.

◆ VectorRotation

typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRotation

Definition at line 79 of file matrix-geometry.hh.

◆ VectorUTheta

typedef Eigen::AngleAxis<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorUTheta

Definition at line 77 of file matrix-geometry.hh.

Enumeration Type Documentation

◆ ControlInput

enum dynamicgraph::sot::ControlInput

Define the type of input expected by the robot.

Enumerator
POSITION_CONTROL
VELOCITY_CONTROL
TORQUE_CONTROL
CONTROL_SIZE

Definition at line 34 of file device.hh.

◆ Representation_t

enum dynamicgraph::sot::Representation_t

Enum used to specify what difference operation is used in FeaturePose.

Enumerator
SE3Representation
R3xSO3Representation

Definition at line 29 of file feature-pose.hh.

Function Documentation

◆ __null_stream()

std::ostream& dynamicgraph::sot::__null_stream ( )

inline

Definition at line 186 of file debug.hh.

◆ base_se3_to_sot()

bool dynamicgraph::sot::base_se3_to_sot	(	ConstRefVector	pos,
		ConstRefMatrix	R,
		RefVector	q_sot
	)

Definition at line 445 of file robot-utils.cpp.

◆ base_sot_to_urdf()

bool dynamicgraph::sot::base_sot_to_urdf	(	ConstRefVector	q_sot,
		RefVector	q_urdf
	)

Definition at line 483 of file robot-utils.cpp.

◆ base_urdf_to_sot()

bool dynamicgraph::sot::base_urdf_to_sot	(	ConstRefVector	q_urdf,
		RefVector	q_sot
	)

Definition at line 471 of file robot-utils.cpp.

◆ buildFrom()

void dynamicgraph::sot::buildFrom	(	const MatrixHomogeneous &	MH,
		MatrixTwist &	MT
	)

inline

Definition at line 88 of file matrix-geometry.hh.

◆ convertVelocity()

template<typename T >

Vector6d dynamicgraph::sot::convertVelocity	(	const MatrixHomogeneous &	M,
		const MatrixHomogeneous &	Mdes,
		const Vector &	faNufafbDes
	)

◆ createRobotUtil()

RobotUtilShrPtr dynamicgraph::sot::createRobotUtil ( std::string & robotName )

Definition at line 536 of file robot-utils.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION()

dynamicgraph::sot::DEFINE_SIGNAL_INNER_FUNCTION	(	x_dx_ddx	,
		dynamicgraph::Vector
	)

Definition at line 120 of file filter-differentiator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [1/3]

dynamicgraph::sot::DEFINE_SIGNAL_OUT_FUNCTION	(	ddx	,
		dynamicgraph::Vector
	)

Definition at line 154 of file filter-differentiator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [2/3]

dynamicgraph::sot::DEFINE_SIGNAL_OUT_FUNCTION	(	dx	,
		dynamicgraph::Vector
	)

Definition at line 145 of file filter-differentiator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [3/3]

dynamicgraph::sot::DEFINE_SIGNAL_OUT_FUNCTION	(	x_filtered	,
		dynamicgraph::Vector
	)

*************************************************************** /// The following signals depend only on other inner signals, so they just need to copy the interested part of the inner signal they depend on. *************************************************************** ///

Definition at line 136 of file filter-differentiator.cpp.

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [1/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	DoubleConstant	,
		"DoubleConstant"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [2/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	Event	,
		"Event"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [3/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	ExpMovingAvg	,
		"ExpMovingAvg"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [4/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	FeaturePosture	,
		"FeaturePosture"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [5/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	FilterDifferentiator	,
		"FilterDifferentiator"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [6/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	GradientAscent	,
		"GradientAscent"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [7/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	Integrator	,
		"Integrator"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [8/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	Kalman	,
		"Kalman"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [9/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	Latch	,
		"Latch"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [10/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	ParameterServer	,
		"ParameterServer"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [11/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	RobotSimu	,
		"RobotSimu"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [12/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	Segment	,
		"Segment"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [13/16]

template<>

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	SwitchBool	,
		"SwitchBoolean"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [14/16]

template<>

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	SwitchMatrixHomogeneous	,
		"SwitchMatrixHomogeneous"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [15/16]

template<>

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	SwitchVector	,
		"SwitchVector"
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [16/16]

dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	VisualPointProjecter	,
		"VisualPointProjecter"
	)

◆ force_default_rtn()

std::string dynamicgraph::sot::force_default_rtn ( "Force name not found" )

◆ getListOfRobots()

std::shared_ptr< std::vector< std::string > > dynamicgraph::sot::getListOfRobots ( )

Definition at line 508 of file robot-utils.cpp.

◆ getRobotUtil()

RobotUtilShrPtr dynamicgraph::sot::getRobotUtil ( std::string & robotName )

Definition at line 522 of file robot-utils.cpp.

◆ isNameInRobotUtil()

bool dynamicgraph::sot::isNameInRobotUtil ( std::string & robotName )

Definition at line 529 of file robot-utils.cpp.

◆ joint_default_rtn()

std::string dynamicgraph::sot::joint_default_rtn ( "Joint name not found" )

◆ operator&()

Flags dynamicgraph::sot::operator&	(	const Flags &	f1,
		const Flags &	f2
	)

Definition at line 91 of file flags.cpp.

◆ operator<<() [1/4]

ostream& dynamicgraph::sot::operator<<	(	ostream &	os,
		const ExceptionAbstract &	error
	)

Definition at line 78 of file exception-abstract.cpp.

◆ operator<<() [2/4]

std::ostream& dynamicgraph::sot::operator<<	(	std::ostream &	os,
		const Flags &	fl
	)

Definition at line 126 of file flags.cpp.

◆ operator<<() [3/4]

std::ostream& dynamicgraph::sot::operator<<	(	std::ostream &	os,
		const MultiBound &	m
	)

Definition at line 146 of file multi-bound.cpp.

◆ operator<<() [4/4]

std::ostream & dynamicgraph::sot::operator<<	(	std::ostream &	os,
		const VectorMultiBound &	v
	)

Definition at line 228 of file multi-bound.cpp.

◆ operator>>() [1/3]

std::istream& dynamicgraph::sot::operator>>	(	std::istream &	is,
		Flags &	fl
	)

Definition at line 131 of file flags.cpp.

◆ operator>>() [2/3]

std::istream& dynamicgraph::sot::operator>>	(	std::istream &	is,
		MultiBound &	m
	)

Definition at line 170 of file multi-bound.cpp.

◆ operator>>() [3/3]

std::istream & dynamicgraph::sot::operator>>	(	std::istream &	os,
		VectorMultiBound &	v
	)

Definition at line 238 of file multi-bound.cpp.

◆ operator|()

Flags dynamicgraph::sot::operator\|	(	const Flags &	f1,
		const Flags &	f2
	)

Definition at line 97 of file flags.cpp.

◆ RefVoidRobotUtil()

RobotUtilShrPtr dynamicgraph::sot::RefVoidRobotUtil ( )

Definition at line 44 of file robot-utils.cpp.

◆ REGISTER_BINARY_OP() [1/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Comparison< double >	,
		CompareDouble
	)

◆ REGISTER_BINARY_OP() [2/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Composer	,
		Compose_R_and_T
	)

◆ REGISTER_BINARY_OP() [3/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	ConvolutionTemporal	,
		ConvolutionTemporal
	)

◆ REGISTER_BINARY_OP() [4/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	MatrixComparison< Vector >	,
		CompareVector
	)

◆ REGISTER_BINARY_OP() [5/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Multiplier_double_vector	,
		Multiply_double_vector
	)

◆ REGISTER_BINARY_OP() [6/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Multiplier_matrix_vector	,
		Multiply_matrix_vector
	)

◆ REGISTER_BINARY_OP() [7/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Multiplier_matrixHomo_vector	,
		Multiply_matrixHomo_vector
	)

◆ REGISTER_BINARY_OP() [8/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Multiplier_matrixTwist_vector	,
		Multiply_matrixTwist_vector
	)

◆ REGISTER_BINARY_OP() [9/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Substraction< double >	,
		Substract_of_double
	)

◆ REGISTER_BINARY_OP() [10/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Substraction< dynamicgraph::Matrix >	,
		Substract_of_matrix
	)

◆ REGISTER_BINARY_OP() [11/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	Substraction< dynamicgraph::Vector >	,
		Substract_of_vector
	)

◆ REGISTER_BINARY_OP() [12/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	VectorStack	,
		Stack_of_vector
	)

◆ REGISTER_BINARY_OP() [13/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	WeightedAdder< double >	,
		WeightAdd_of_double
	)

◆ REGISTER_BINARY_OP() [14/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	WeightedAdder< dynamicgraph::Matrix >	,
		WeightAdd_of_matrix
	)

◆ REGISTER_BINARY_OP() [15/15]

dynamicgraph::sot::REGISTER_BINARY_OP	(	WeightedAdder< dynamicgraph::Vector >	,
		WeightAdd_of_vector
	)

◆ REGISTER_UNARY_OP() [1/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	Diagonalizer	,
		MatrixDiagonal
	)

◆ REGISTER_UNARY_OP() [2/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	HomoToMatrix	,
		HomoToMatrix
	)

◆ REGISTER_UNARY_OP() [3/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	HomoToRotation	,
		HomoToRotation
	)

◆ REGISTER_UNARY_OP() [4/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	HomoToTwist	,
		HomoToTwist
	)

◆ REGISTER_UNARY_OP() [5/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	Inverser< Matrix >	,
		Inverse_of_matrix
	)

◆ REGISTER_UNARY_OP() [6/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	Inverser< MatrixHomogeneous >	,
		Inverse_of_matrixHomo
	)

◆ REGISTER_UNARY_OP() [7/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	Inverser< MatrixTwist >	,
		Inverse_of_matrixtwist
	)

◆ REGISTER_UNARY_OP() [8/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	InverserQuaternion	,
		Inverse_of_unitquat
	)

◆ REGISTER_UNARY_OP() [9/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	InverserRotation	,
		Inverse_of_matrixrotation
	)

◆ REGISTER_UNARY_OP() [10/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixColumnSelector	,
		Selec_column_of_matrix
	)

◆ REGISTER_UNARY_OP() [11/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixHomoToPose	,
		MatrixHomoToPose
	)

◆ REGISTER_UNARY_OP() [12/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixHomoToPoseQuaternion	,
		MatrixHomoToPoseQuaternion
	)

◆ REGISTER_UNARY_OP() [13/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixHomoToPoseRollPitchYaw	,
		MatrixHomoToPoseRollPitchYaw
	)

◆ REGISTER_UNARY_OP() [14/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixHomoToPoseUTheta	,
		MatrixHomoToPoseUTheta
	)

◆ REGISTER_UNARY_OP() [15/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixHomoToSE3Vector	,
		MatrixHomoToSE3Vector
	)

◆ REGISTER_UNARY_OP() [16/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixSelector	,
		Selec_of_matrix
	)

◆ REGISTER_UNARY_OP() [17/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixToHomo	,
		MatrixToHomo
	)

◆ REGISTER_UNARY_OP() [18/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixToQuaternion	,
		MatrixToQuaternion
	)

◆ REGISTER_UNARY_OP() [19/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixToRPY	,
		MatrixToRPY
	)

◆ REGISTER_UNARY_OP() [20/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixToUTheta	,
		MatrixToUTheta
	)

◆ REGISTER_UNARY_OP() [21/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	MatrixTranspose	,
		MatrixTranspose
	)

◆ REGISTER_UNARY_OP() [22/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	Normalize	,
		Norm_of_vector
	)

◆ REGISTER_UNARY_OP() [23/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	PoseQuaternionToMatrixHomo	,
		PoseQuaternionToMatrixHomo
	)

◆ REGISTER_UNARY_OP() [24/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	PoseRollPitchYawToMatrixHomo	,
		PoseRollPitchYawToMatrixHomo
	)

◆ REGISTER_UNARY_OP() [25/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	PoseRollPitchYawToPoseUTheta	,
		PoseRollPitchYawToPoseUTheta
	)

◆ REGISTER_UNARY_OP() [26/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	PoseUThetaToMatrixHomo	,
		PoseUThetaToMatrixHomo
	)

◆ REGISTER_UNARY_OP() [27/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	QuaternionToMatrix	,
		QuaternionToMatrix
	)

◆ REGISTER_UNARY_OP() [28/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	QuaternionToRPY	,
		QuaternionToRPY
	)

◆ REGISTER_UNARY_OP() [29/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	RPYToMatrix	,
		RPYToMatrix
	)

◆ REGISTER_UNARY_OP() [30/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	RPYToQuaternion	,
		RPYToQuaternion
	)

◆ REGISTER_UNARY_OP() [31/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	SE3VectorToMatrixHomo	,
		SE3VectorToMatrixHomo
	)

◆ REGISTER_UNARY_OP() [32/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	SkewSymToVector	,
		SkewSymToVector
	)

◆ REGISTER_UNARY_OP() [33/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	UThetaToQuaternion	,
		UThetaToQuaternion
	)

◆ REGISTER_UNARY_OP() [34/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	VectorComponent	,
		Component_of_vector
	)

◆ REGISTER_UNARY_OP() [35/35]

dynamicgraph::sot::REGISTER_UNARY_OP	(	VectorSelecter	,
		Selec_of_vector
	)

◆ REGISTER_VARIADIC_OP() [1/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	AdderVariadic< double >	,
		Add_of_double
	)

◆ REGISTER_VARIADIC_OP() [2/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	AdderVariadic< Matrix >	,
		Add_of_matrix
	)

◆ REGISTER_VARIADIC_OP() [3/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	AdderVariadic< Vector >	,
		Add_of_vector
	)

◆ REGISTER_VARIADIC_OP() [4/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	BoolOp< 0 >	,
		And
	)

◆ REGISTER_VARIADIC_OP() [5/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	BoolOp< 1 >	,
		Or
	)

◆ REGISTER_VARIADIC_OP() [6/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	Multiplier< double >	,
		Multiply_of_double
	)

◆ REGISTER_VARIADIC_OP() [7/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	Multiplier< Matrix >	,
		Multiply_of_matrix
	)

◆ REGISTER_VARIADIC_OP() [8/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	Multiplier< MatrixHomogeneous >	,
		Multiply_of_matrixHomo
	)

◆ REGISTER_VARIADIC_OP() [9/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	Multiplier< MatrixRotation >	,
		Multiply_of_matrixrotation
	)

◆ REGISTER_VARIADIC_OP() [10/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	Multiplier< MatrixTwist >	,
		Multiply_of_matrixtwist
	)

◆ REGISTER_VARIADIC_OP() [11/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	Multiplier< Vector >	,
		Multiply_of_vector
	)

◆ REGISTER_VARIADIC_OP() [12/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	Multiplier< VectorQuaternion >	,
		Multiply_of_quaternion
	)

◆ REGISTER_VARIADIC_OP() [13/13]

dynamicgraph::sot::REGISTER_VARIADIC_OP	(	VectorMix	,
		Mix_of_vector
	)

◆ SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN() [1/2]

dynamicgraph::sot::SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN	(	FIRFilter	,
		double	,
		double	,
		double_double	,
		"FIRFilter"
	)

◆ SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN() [2/2]

FIRFilter dynamicgraph::sot::SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN	(	FIRFilter	,
		Vector	,
		Matrix	,
		vec_mat	,
		"FIRFilter"
	)

◆ SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER() [1/2]

dynamicgraph::sot::SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER	(	IntegratorEuler	,
		double	,
		double	,
		"IntegratorEulerDoubleDouble"
	)

◆ SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER() [2/2]

IntegratorEulerVectorMatrix dynamicgraph::sot::SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER	(	IntegratorEuler	,
		Vector	,
		double	,
		"IntegratorEulerVectorDouble"
	)

◆ sotDEBUGF() [1/2]

void dynamicgraph::sot::sotDEBUGF	(	const char *	,
			...
	)

inline

Definition at line 183 of file debug.hh.

◆ sotDEBUGF() [2/2]

void dynamicgraph::sot::sotDEBUGF	(	const	size_type,
		const char *	,
			...
	)

inline

Definition at line 182 of file debug.hh.

◆ sotDEBUGFLOW()

DebugTrace dynamicgraph::sot::sotDEBUGFLOW ( debugfile )

◆ sotERRORF() [1/2]

void dynamicgraph::sot::sotERRORF	(	const char *	,
			...
	)

inline

Definition at line 185 of file debug.hh.

◆ sotERRORF() [2/2]

void dynamicgraph::sot::sotERRORF	(	const	size_type,
		const char *	,
			...
	)

inline

Definition at line 184 of file debug.hh.

◆ sotERRORFLOW()

DebugTrace dynamicgraph::sot::sotERRORFLOW ( debugfile )

◆ sotTDEBUGF() [1/2]

void dynamicgraph::sot::sotTDEBUGF	(	const char *	,
			...
	)

inline

Definition at line 205 of file debug.hh.

◆ sotTDEBUGF() [2/2]

void dynamicgraph::sot::sotTDEBUGF	(	const	size_type,
		const char *	,
			...
	)

inline

Definition at line 204 of file debug.hh.

◆ VoidIndex()

Index dynamicgraph::sot::VoidIndex ( - 1 )

Variable Documentation

◆ __sotDebug_initialisator

__sotDebug_init dynamicgraph::sot::__sotDebug_initialisator

Definition at line 40 of file debug.cpp.

◆ const_SigMatrixXd

const typedef Eigen::Map<const MatrixRXd> dynamicgraph::sot::const_SigMatrixXd

Definition at line 66 of file matrix-geometry.hh.

◆ const_SigVectorXd

const typedef Eigen::Map<const Eigen::VectorXd> dynamicgraph::sot::const_SigVectorXd

Definition at line 67 of file matrix-geometry.hh.

◆ ConstRefMatrix

const typedef Eigen::Ref<const Eigen::MatrixXd> dynamicgraph::sot::ConstRefMatrix

Definition at line 72 of file matrix-geometry.hh.

◆ ConstRefVector

const typedef Eigen::Ref<const Eigen::VectorXd>& dynamicgraph::sot::ConstRefVector

Definition at line 70 of file matrix-geometry.hh.

◆ ControlInput_s

const std::string dynamicgraph::sot::ControlInput_s[] = {"noInteg", "oneInteg", "twoInteg"}

Definition at line 41 of file device.hh.

◆ debugfile

std::ofstream dynamicgraph::sot::debugfile

Definition at line 34 of file debug.cpp.

◆ double

IntegratorEulerVectorMatrix dynamicgraph::sot::double

Definition at line 49 of file fir-filter.cpp.

◆ Matrix

dynamicgraph::sot::Matrix

Definition at line 45 of file integrator-euler.t.cpp.

◆ sgl_map_name_to_robot_util

std::map<std::string, RobotUtilShrPtr> dynamicgraph::sot::sgl_map_name_to_robot_util

static

Definition at line 506 of file robot-utils.cpp.

◆ sotDEBUGFLOW

DebugTrace dynamicgraph::sot::sotDEBUGFLOW(debugfile)

◆ sotERRORFLOW

DebugTrace dynamicgraph::sot::sotERRORFLOW(debugfile)

◆ vec_double

dynamicgraph::sot::vec_double

Definition at line 49 of file fir-filter.cpp.

◆ Vector

dynamicgraph::sot::Vector

Definition at line 49 of file fir-filter.cpp.

◆ VoidForceLimits

ForceLimits dynamicgraph::sot::VoidForceLimits

Definition at line 40 of file robot-utils.cpp.

◆ VoidJointLimits

JointLimits dynamicgraph::sot::VoidJointLimits

Definition at line 41 of file robot-utils.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ ControlValues

◆ EntityClassName

◆ FeaturePose_t

◆ FeaturePoseSE3_t

◆ Index

◆ MatrixForce

◆ MatrixHomogeneous

◆ MatrixRotation

◆ MatrixRXd

◆ MatrixTwist

◆ Multiplier_double_vector

◆ Multiplier_matrix_vector

◆ Multiplier_matrixHomo_vector

◆ Multiplier_matrixTwist_vector

◆ Quaternion

◆ QuaternionMap

◆ R3xSO3_t

◆ RefMatrix

◆ RefVector

◆ RobotUtilShrPtr

◆ SE3_t

◆ SensorValues

◆ SigMatrixXd

◆ SigVectorXd

◆ SwitchBool

◆ SwitchMatrixHomogeneous

◆ SwitchVector

◆ Vector7

◆ VectorMultiBound

◆ VectorQuaternion

◆ VectorRollPitchYaw

◆ VectorRotation

◆ VectorUTheta

Enumeration Type Documentation

◆ ControlInput

◆ Representation_t

Function Documentation

◆ __null_stream()

◆ base_se3_to_sot()

◆ base_sot_to_urdf()

◆ base_urdf_to_sot()

◆ buildFrom()

◆ convertVelocity()

◆ createRobotUtil()

◆ DEFINE_SIGNAL_INNER_FUNCTION()

◆ DEFINE_SIGNAL_OUT_FUNCTION() [1/3]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [2/3]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [3/3]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [1/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [2/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [3/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [4/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [5/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [6/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [7/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [8/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [9/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [10/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [11/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [12/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [13/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [14/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [15/16]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [16/16]

◆ force_default_rtn()

◆ getListOfRobots()

◆ getRobotUtil()

◆ isNameInRobotUtil()

◆ joint_default_rtn()

◆ operator&()

◆ operator<<() [1/4]

◆ operator<<() [2/4]