Namespaces
	internal

	TARGET_NS

	TestIrb4600

	tpl

Classes
class	ActuatorDynamics

class	ActuatorDynamicsSymplectic

class	CoordinateBase

class	Dynamics
	This class implements the equations of motion of a Rigid Body System. More...

class	EEContactModel
	A soft contact model that only uses end-effector positions/velocities to compute the contact force. More...

class	EndEffector

class	FixBaseAccSystem
	A simple fix base robot system which is purely kinematic and actuated at ACCELERATION level. More...

class	FixBaseFDSystem
	A fix base rigid body system that uses forward dynamics. More...

class	FixBaseFDSystemSymplectic
	A fix base rigid body system that uses forward dynamics. More...

class	FixBaseNLOC
	NLOC for fixed base systems without an explicit contact model. More...

class	FixBaseRobotState
	whole fix base robot state, i.e. Joint state, Actuator Dynamics (and fix-base pose) More...

class	FixBaseSystemBase
	Base class for fix-base robot systems. More...

class	FixBaseVelSystem
	A simple fix base robot system which is purely kinematic and actuated at VELOCITY level. More...

class	FloatingBaseFDSystem
	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. More...

class	FloatingBaseNLOCContactModel
	NLOC for floating base systems with an explicit contact model. More...

class	FloatingBaseRobotState
	whole robot state, i.e. RBDState and Actuator Dynamics More...

class	FloatingBaseSLQ
	SLQ for floating base systems without an explicit contact model. The contact constraint is enforced via a cost function. More...

class	FloatingBaseTransforms

class	HyAInverseKinematics

class	IDControllerFB

class	IKConstraintsContainer
	Inverse Kinematics constraint container. More...

class	IKCostEvaluator
	Inverse Kinematics cost evaluator for NLP. More...

class	IKNLP

class	IKNLPSolverIpopt

class	InfiniteHorizonLQRwithInverseDynamics

class	InverseKinematicsBase

struct	InverseKinematicsSettings

class	Irb4600InverseKinematics

class	JacobiSingularity
	A class computing codition numbers and singular velues of a Jacobian. More...

class	JointAcceleration
	joint acceleration More...

class	JointLimitConstraints
	Inverse Kinematics joint limit constraints. More...

class	JointPositionPIDController
	A joint position controller using a PID controller for all joints. More...

class	JointState
	joint state and joint velocity More...

class	Kinematics
	A general class for computing Kinematic properties. More...

class	OperationalModel
	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: $M \ddot{x} + C + G = S^\top \tau + J_c^\top \lambda$ where $\ddot{x}$ is the acceleration of the operational space coordinate. More...

class	OperationalModelBase

class	ProjectedDynamics

class	ProjectedFDSystem
	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. More...

class	QuadrotorWithLoadFDSystem

class	RBDAcceleration
	joint acceleration and base acceleration More...

class	RBDDataMap
	A very simple container to associate N generic data item T. More...

class	RbdLinearizer

class	RBDState
	joint states and base states More...

class	RBDSystem
	This is a common interface class for an RBDSystem. More...

class	RobCoGenContainer
	Container class containing all robcogen classes. More...

class	SEADynamicsFirstOrder

class	SecondOrderActuatorDynamics

class	SelectionMatrix
	Selection Matrix for a Rigid Body Dynamics System. More...

class	SimpleArmTrajectoryGenerator

class	SpatialForceVector
	A spatial force vector This vector contains a torque (angular) in the upper three rows and a linear force in the lower three rows. More...

class	TermTaskspaceGeometricJacobian
	A costfunction term that defines a cost on a task-space pose, for fix-base robots only. More...

class	WholeBodyController

Typedefs
using	SingleDOFTrajectoryGenerator = tpl::SingleDOFTrajectoryGenerator< double >

template<class RBDContainer , size_t NUM_CONTACTPOINTS>
using	OperationalModelRBD = tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, double >

template<typename Kinematics , size_t OUTPUTS, size_t NJOINTS>
using	ConstraintJacobian = tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, double >

template<size_t NUM_JOINTS>
using	FrameJacobian = tpl::FrameJacobian< NUM_JOINTS, double >

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>
using	JacobianBase = tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, double >

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>
using	OperationalJacobianBase = tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, double >

typedef tpl::RigidBodyAcceleration< double >	RigidBodyAcceleration

typedef tpl::RigidBodyPose< double >	RigidBodyPose

typedef tpl::RigidBodyState< double >	RigidBodyState

typedef tpl::RigidBodyVelocities< double >	RigidBodyVelocities