Namespaces |
| namespace | biped |
| namespace | quad |
Classes |
| struct | Convert |
| | Converts between xpp-states types and xpp-messages. More...
|
| class | Endeffectors |
| | Data structure to assign values to each endeffector. More...
|
| class | EndeffectorsContact |
| | Bundles the contact state of all endeffectors. More...
|
| class | EndeffectorsMotion |
| | Bundles the position, velocity and acceleration of all endeffectors. as well as appending a EndeffectorMotion specific convenience function. More...
|
| class | Joints |
| | Container to access joint values of each endeffectors. More...
|
| class | RobotStateCartesian |
| | Defines a complete robot state in Cartesian space. More...
|
| class | RobotStateJoint |
| | Defines a complete robot state in joint space. More...
|
| class | State3d |
| | 6D-State (linear+angular) of an object in 3-dimensional space, where the angular part is expressed by a Quaternion. More...
|
| class | State3dEuler |
| | 6D-state (linear+angular) of an object in 3-dimensional space, where the angular part is expressed by Euler angles. More...
|
| class | StateAng3d |
| | Angular state of an object in 3-dimensional space. More...
|
| class | StateLin1d |
| class | StateLin2d |
| class | StateLin3d |
| class | StateLinXd |
| | Represents position, velocity and acceleration in x-dimensions. More...
|
Enumerations |
| enum | Coords2D { X_ = 0,
Y_
} |
| enum | Coords3D { X = 0,
Y,
Z
} |
| enum | Coords6D {
AX = 0,
AY,
AZ,
LX,
LY,
LZ
} |
| enum | MotionDerivative { kPos = 0,
kVel,
kAcc,
kJerk
} |
Functions |
| static Vector3d | GetEulerZYXAngles (const Quaterniond &q) |
| | Converts an orientation to Euler ZY'X'' convention.
|
| static Quaterniond | GetQuaternionFromEulerZYX (double yaw, double pitch, double roll) |
| | Converts an orientation to Quaternion from Euler ZY'X'' convention.
|
| StateLinXd | operator* (double mult, const StateLinXd &rhs) |
| StateLinXd | operator+ (const StateLinXd &lhs, const StateLinXd &rhs) |
| std::ostream & | operator<< (std::ostream &out, const StateLinXd &pos) |
| template<typename T > |
| std::ostream & | operator<< (std::ostream &stream, Endeffectors< T > endeffectors) |
| std::ostream & | operator<< (std::ostream &out, const StateAng3d &ori) |
| std::ostream & | operator<< (std::ostream &out, const State3d &pose) |
| static Coords2D | To2D (Coords3D dim) |
Variables |
| static const Coords6D | AllDim6D [] = {AX, AY, AZ, LX, LY, LZ} |
| static constexpr int | kDim2d = 2 |
| static constexpr int | kDim3d = 3 |
| static constexpr int | kDim6d = 6 |