Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 12345]

▼Nct
▼Nrbd
►NTARGET_NS
CUtils
►Ntpl
CConstraintJacobian
CFrameJacobian	This class provides methods for converting the non-inertia base frame Jacobian matrix to an user defined inertia frame (called as inertia frame)
CJacobianBase
COperationalJacobianBase
COperationalModelRBD	This is a class for expressing the RBD equations of an articulated robot as an operational model. It uses the RBDContainer class as an interface to access the generated code for an articulated robot
CRigidBodyAcceleration	Acceleration of a rigid body
CRigidBodyPose	Pose of a single rigid body
CRigidBodyState	State (pose and velocities) of a single rigid body
CRigidBodyVelocities	Representation of Rigid Body Velocities, currently just a typedef
CSingleDOFTrajectoryGenerator
CActuatorDynamics
CActuatorDynamicsSymplectic
CCoordinateBase
CDynamics	This class implements the equations of motion of a Rigid Body System
CEEContactModel	A soft contact model that only uses end-effector positions/velocities to compute the contact force
CEndEffector
CFixBaseAccSystem	A simple fix base robot system which is purely kinematic and actuated at ACCELERATION level
CFixBaseFDSystem	A fix base rigid body system that uses forward dynamics
CFixBaseFDSystemSymplectic	A fix base rigid body system that uses forward dynamics
CFixBaseNLOC	NLOC for fixed base systems without an explicit contact model
CFixBaseRobotState	Whole fix base robot state, i.e. Joint state, Actuator Dynamics (and fix-base pose)
CFixBaseSystemBase	Base class for fix-base robot systems
CFixBaseVelSystem	A simple fix base robot system which is purely kinematic and actuated at VELOCITY level
CFloatingBaseFDSystem	A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world
CFloatingBaseNLOCContactModel	NLOC for floating base systems with an explicit contact model
CFloatingBaseRobotState	Whole robot state, i.e. RBDState and Actuator Dynamics
CFloatingBaseSLQ	SLQ for floating base systems without an explicit contact model. The contact constraint is enforced via a cost function
CFloatingBaseTransforms
CIDControllerFB
CIKConstraintsContainer	Inverse Kinematics constraint container
CIKCostEvaluator	Inverse Kinematics cost evaluator for NLP
CIKNLP
CIKNLPSolverIpopt
CInfiniteHorizonLQRwithInverseDynamics
CInverseKinematicsBase
CInverseKinematicsSettings
CJacobiSingularity	A class computing codition numbers and singular velues of a Jacobian
CJointAcceleration	Joint acceleration
CJointLimitConstraints	Inverse Kinematics joint limit constraints
CJointPositionPIDController	A joint position controller using a PID controller for all joints
CJointState	Joint state and joint velocity
CKinematics	A general class for computing Kinematic properties
COperationalModel	This is the class for the operational space model which gives access to the operational model parameter. The model is assumed to have the following form: where is the acceleration of the operational space coordinate
COperationalModelBase
CProjectedDynamics
CProjectedFDSystem	A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world
CRBDAcceleration	Joint acceleration and base acceleration
CRBDDataMap	A very simple container to associate N generic data item T
CRbdLinearizer
CRBDState	Joint states and base states
CRBDSystem	This is a common interface class for an RBDSystem
CRobCoGenContainer	Container class containing all robcogen classes
CSEADynamicsFirstOrder
CSecondOrderActuatorDynamics
CSelectionMatrix	Selection Matrix for a Rigid Body Dynamics System
CSimpleArmTrajectoryGenerator
CSpatialForceVector	A spatial force vector This vector contains a torque (angular) in the upper three rows and a linear force in the lower three rows
CTermTaskspaceGeometricJacobian	A costfunction term that defines a cost on a task-space pose, for fix-base robots only
CWholeBodyController
▼NEigen
▼Ninternal
Ctraits< iit::rbd::HomogeneousTransformBase< State, M > >
Ctraits< iit::rbd::RotationTransformBase< State, M > >
▼Niit
▼Nrbd
►Ninternal
CMat3x3Coefficients
CSymmMat3x3Coefficients
►Ntpl
CInertiaMatrixDense
CInertiaMatrixSparse
CTraitSelector
CTraitSelector< double >
CTraitSelector< float >
CCore
CDoubleTrait
CFloatTrait
CHomogeneousTransformBase
CJacobianBase
CRotationTransformBase
CSpatialTransformBase
CStateDependentBase
CStateDependentMatrix
►CUtils
CCwiseAlmostZeroOp
CInertiaMoments
▼NTestHyQ
►Ndyn
►Ntpl
CForwardDynamics
CInertiaProperties
CInverseDynamics
CJSIM
CDefaultParamsGetter
CRuntimeInertiaParams
CRuntimeParamsGetter
►Ntpl
CTraits
CJointDataMap
CLinkDataMap
▼Ntestirb4600
►Ndyn
►Ntpl
CForwardDynamics
CInertiaProperties
CInverseDynamics
CJSIM
CDefaultParamsGetter
CRuntimeInertiaParams
CRuntimeParamsGetter
►Ntpl
CTraits
CJointDataMap
CLinkDataMap
▼Nikfast
CIkFastFunctions	Holds function pointers for all the exported functions of ikfast
CIkSingleDOFSolutionBase	Holds the solution for a single dof
CIkSolution	Default implementation of IkSolutionBase
CIkSolutionBase	The discrete solutions are returned in this structure
CIkSolutionList	Default implementation of IkSolutionListBase
CIkSolutionListBase	Manages all the solutions
CIKRegularizerBase
Cprint_size_as_warning	System Linearizer dedicated to Articulated Rigid Body Model
CTestJacobian