Class List

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

[detail level 123]

▼Nclproto	Bindings to encode and decode state objects into serialised binary message
CDecodingException	A DecodingException is raised whenever a decoding operation fails due to invalid encoding
CJsonParsingException	A JsonParsingException is raised whenever a JSON conversion operation fails due to invalid encoding
▼Ncontrollers	Systems to determine a command output from measured and desired inputs
▼Nexceptions
CInvalidControllerException
CNoRobotModelException
CNotImplementedException
▼Nimpedance
CCompliantTwist	A concrete controller class specifically for controlling 6 degree of freedom Cartesian twist with a combination of impedance controllers. The linear velocity is controlled with the Dissipative controller class, while the angular velocity is controlled with the VelocityImpedance class
CDissipative	Definition of a dissipative impedance controller (PassiveDS) in task space
CImpedance	Definition of an impedance controller in either joint or task space
CVelocityImpedance	A velocity impedance is a normal impedance controller that only uses velocity input and integrates it for position error
CControllerFactory	Factory to create a shared pointer to a controller
CIController	Abstract class to define a controller in a desired state type, such as joint or Cartesian spaces
▼Ndynamical_systems	Systems of equations relating state variables to their derivatives
▼Nexceptions
CEmptyAttractorException
CEmptyBaseFrameException
CIncompatibleSizeException
CInvalidDynamicalSystemException
CNotImplementedException
CCircular	Represent a Circular dynamical system to move around an center
CDefaultDynamicalSystem	A default dynamical system that just returns an empty state
CDynamicalSystemFactory	Factory to create a shared pointer to a dynamical system
CIDynamicalSystem	Abstract class for a dynamical system
CPointAttractor	Represents a dynamical system to move towards an attractor
CRing	Represent a Ring dynamical system limit cycle to move around a radius within a fixed width
▼Npy_parameter
CParameterContainer
CParameterValues
▼Nrobot_model	Robot kinematics and dynamics
▼Nexceptions
CFrameNotFoundException
CInvalidJointStateSizeException
CInverseKinematicsNotConvergingException
CInverseKinematicsParameters	Parameters for the inverse kinematics function
CModel	Wrapper around pinocchio dynamic computation library with state_representation encapsulations
CQPInverseVelocityParameters	Parameters for the inverse velocity kinematics function
▼Nstate_representation	Core state variables and objects
▼Nexceptions
CEmptyStateException
CIncompatibleReferenceFramesException
CIncompatibleSizeException
CIncompatibleStatesException
CInvalidParameterCastException
CInvalidParameterException
CInvalidPointerException
CJointNotFoundException	Exception that is thrown when a joint name or index is out of range
CNoSolutionToFitException
CNotImplementedException
CUnrecognizedParameterTypeException
▼Nunits
CAngle
CDistance
CVelocity
CCartesianAcceleration	Class to define acceleration in cartesian space as 3D linear and angular acceleration vectors
CCartesianPose	Class to define CartesianPose in cartesian space as 3D position and quaternion based orientation
CCartesianState	Class to represent a state in Cartesian space
CCartesianTwist	Class to define twist in cartesian space as 3D linear and angular velocity vectors
CCartesianWrench	Class to define wrench in cartesian space as 3D force and torque vectors
CDualQuaternionPose	Class to represent a Pose in Dual Quaternion space
CDualQuaternionState	Class to represent a state in Dual Quaternion space
CDualQuaternionTwist	Class to represent a Twist in Dual Quaternion space
CEllipsoid
CEvent	An event is a predicate with memory. Its purpose is to be true only once and change value only when the underlying predicate has changed from true to false and back to true since last reading
CJacobian	Class to define a robot Jacobian matrix
CJointAccelerations	Class to define accelerations of the joints
CJointPositions	Class to define a positions of the joints
CJointState	Class to define a state in joint space
CJointTorques	Class to define torques of the joints
CJointVelocities	Class to define velocities of the joints
CParameter
CParameterInterface
CParameterMap	A wrapper class to contain a map of Parameter pointers by name and provide robust access methods
CPredicate	A predicate is a boolean parameter as in the logic formalism
CShape
CSpatialState
CState	Abstract class to represent a state
CTrajectory
CPyController
CPyDynamicalSystem
CPyParameterMap