►NKlampt | |
CAccelerometer | Simulates an accelerometer |
CActiveRobotCSpace | A CSpace for just a few dofs of a robot. Slightly faster than using a regular RobotCSpace then picking out subvectors |
CActuatorCommand | A basic motor type. Handles PID, torque, and locked velocity modes |
CCameraSensor | Simulates an RGB, D, or RGB+D camera sensor. Provides a 2D grid of color and/or depth values, capped and quantized |
CCartesianObjective | A goal that measures point-to-point distance |
CCartesianTrackingObjective | Tracking a path in cartesian space |
CCollisionConstraint | |
CCOMAccelTask | |
CCompositeBackend | |
CCompositeObjective | An objective that merges contributions from multiple other objective functions |
CConfigFixer | A class for "fixing" a configuration by sampling a feasible configuration near it |
CConfigObjective | A goal that measures distance to a goal configuration qgoal |
CConfigsResource | Resource for multiple Config's |
CConstrainedInterpolator | Construct a polyline between a and b such that each point is near the constraint C(x)=0 |
CConstraintChecker | Checks for static constraints for a robot at a given stance |
CContactCSpace | A SingleRobotCSpace for a robot maintaining contact |
CContactDistanceMetric | |
CContactFeatureBase | A feature on the robot that can be used for contact |
CContactFeatureMapping | A mapping from a ContactFeature to a point on the environment |
CContactFeedbackInfo | Container for information about contacts regarding a certain object. Can be set to accumulate a summary over sub-steps or detailed data per-step |
CContactForceTask | |
CContactJointTrackingController | Makes a joint tracking controller 'aware' of a contact formation |
CContactSensor | Simulates a contact sensor / tactile sensor |
CContactTimeScaling | A time scaling with torque/contact constraints |
CControlledRobot | An interface for a Klamp't controlled robot. This should be implemented if you wish to use Klamp't controllers to communicate directly with a real robot's motor controller |
CControlledRobotSimulator | A class containing information about an ODE-simulated and controlled robot |
CCorruptedSensor | A "piggyback" sensor that corrupts readings with quantization error and gaussian noise |
CCSpaceFeasibilityChecker | Adapter for the ParabolicRamp feasibility checking routines |
CCustomGeometryData | |
CCustomTimeScaling | A base class for a time scaling with colocation point constraints. Subclasses should fill in dsmax, ds2ddsConstraintNormals, and ds2ddsConstraintOffsets before Optimize is called |
CDefaultMotionQueueInterface | A MotionQueueInterface that just sends to a PolynomialMotionQueue |
CDriverTorqueSensor | Simulates a torque sensor |
►CDynamicHybridTreePlanner | The preferred dynamic sampling-based planner for realtime planning. Will alternate sampling-based planning and smoothing via shortcutting |
CEdgeData | |
CNodeData | |
CDynamicIKPlanner | A planner that uses numerical inverse kinematics to reach the goal. The goal must be of CartesianObjective or IKObjective type, or a composite of several such objectives. (see PlannerObjectives.h) |
CDynamicMotionPlannerBase | A base class for a motion planner that generates dynamic paths. The output should always respect joint, velocity, and acceleration limits and end in a zero-velocity terminal states |
CDynamicPerturbationIKPlanner | A planner that perturbs the current configuration and uses numerical IK to get an improved path. All caveats of RealTimeIKPlanner apply |
CDynamicPerturbationPlanner | A planner that perturbs the current configuration to get an improved path |
CDynamicRRTPlanner | Dynamic RRT planner – not recently tested |
CEdgeContactFeature | An edge contact feature |
CFaceContactFeature | A (planar) face contact feature |
CFacesContactFeature | A contact feature consisting of multiple faces |
CFeedforwardController | A class that adds a feedforward torque to the basic control. The necessary feedforward torque is estimated assuming the robot is fixed-base |
CFilteredSensor | An exponentially smoothed filter that acts as a "piggyback" sensor |
CForceHook | A hook that adds a constant force to a body |
CForceTorqueSensor | Simulates a force-torque sensor mounted between a link and its parent. Can be configured to be up to 6DOF |
►CGeneralizedRobotModel | A collection of robots and objects that can be treated like one "big robot" |
CElement | |
CGenericBackendBase | |
CGenericGUIBase | A base class for a GUI frontend. Performs message passing to the backend in the easily serializable AnyCollection format |
►CGeometryManager | |
CGeometryList | |
CGLNavigationBackend | A backend that manages a camera and performs OpenGL scene management |
CGLUIGUI | A base class for GLUI GUIs |
CGLUTGUI | |
CGrasp | Slightly more sophisticated than a Stance, a Grasp allows some of the robot's degrees of freedom to be fixed |
CGraspResource | Resource for a Grasp |
CGyroSensor | Simulates a gyroscope |
CHold | A single contact between the robot and the environment |
CHoldReader | |
CHoldResource | Resource for a Hold |
CIKCommandInterface | An interface that uses numerical IK to solve for a Cartesian objective function. Assumes that IK is fast enough to be solved in a single update step |
CIKGoalResource | Resource for an IKGoal |
CIKObjective | A goal for an IK solution (including possibly rotation) |
CIKPlannerCommandInterface | An interface uses safe IK as the real-time planner class to achieve the user's objective |
CIMUSensor | An inertial measurement unit. May provide all or some of a rigid body's state |
CInputProcessingInterface | An interface that uses an InputProcessorBase subclass to process input. By default, it uses a StandardInputProcessor which lets the user to pose points on the robot in Cartesian space by pointing and dragging |
CInputProcessorBase | An abstract base class for processing user input through a 2D mouse driven gui into PlannerObjectives used for planning |
CIntegratedStateEstimator | A state estimator that integrates information from accelerometers (i.e., an Inertial Measurement Unit) and gravity sensors |
CJointAccelTask | |
CJointCommandInterface | An interface that allows the user to pose individual joints using mouse dragging |
CJointForceHook | A hook that adds a constant force to a joint |
CJointLimitConstraint | |
CJointPositionSensor | Simulates a joint encoder |
CJointSpringHook | A hook that adds a Hookean (optionally damped) virtual spring to a joint |
CJointTrackingController | A controller base class that reads out a desired servo position and velocity using the method GetDesiredState |
CJointVelocitySensor | Simulates a velocity sensor. (Does not perform differencing) |
CLaserRangeSensor | Simulates a laser range sensor, either sweeping or stationary. Can both simulate both 1D sweeping and 2D sweeping |
CLinearPath | A piecewise linear path |
CLinearPathResource | Resource for a LinearPath |
CLineReader | |
CLocalForceHook | A hook that adds a constant force in world coordinates to a point on a body given in local coordinates |
CLoggingController | A controllre that saves/replays low-level commands from disk |
CManagedGeometry | A "smart" geometry loading class that caches previous geometries and maintains shared collision detection / appearance information. This greatly speeds up loading time if multiple instances of the same geometry are loaded from disk, because multiple ManagedGeometry objects can share the same underlying data. It can also read from dynamic geometry sources (ROS point cloud topics, for now) |
CMotionQueueInterface | |
CMouseDragBackend | A backend that processes mouse motion calls into dragging callbacks. Makes it a bit easier to determine free-dragging, control-dragging, shift-dragging, etc |
CMTIKPlannerCommandInterface | |
CMTPlannerCommandInterface | A base class for a multithreaded planning robot UI. Subclasses must call planningThread.SetStartConfig(), SetCSpace(), and SetPlanner() |
CMTRRTCommandInterface | |
►CMultiPath | A very general multi-section path container |
CPathSection | |
CMultiPathResource | Resource for a MultiPath |
CObjectPlannerSettings | |
CODEContactList | A list of contacts between two objects, returned as feedback from the simulation |
CODEGeometry | An ODE collision geometry |
CODEJoint | A joint between two objects |
CODEObjectID | An index that identifies some ODE object in the world. Environments, robots, robot bodies, or rigid objects are supported |
CODERigidObject | An ODE-simulated rigid object |
CODERobot | A robot simulated in an ODE "world" |
CODESimulator | An interface to the ODE simulator |
CODESimulatorSettings | Global simulator settings |
CODESurfaceProperties | Surface properties for any ODE rigid object, robot link, or fixed object |
COmniscientStateEstimator | A state estimator will full knowledge of the robot's simulated state. An ODERobot must be provided at initialization |
COperationalSpaceController | A combination of multiple "tasks" that define a weighted optimization objective for the joint torques |
CParameterizedVectorFieldFunction | A VectorFieldFunction that depends on a parameter theta |
CPlannerCommandInterface | An interface that uses a real-time planner to solve for an arbitrary objective function. Subclasses must choose which type of planner to use |
CPlannerObjectiveBase | A base class for objective functionals in time/config/velocity space |
CPointCloudResource | Resource for a PointCloud3D |
CPointContactFeature | A single point contact feature |
CPolygon2DSampler | Samples points in a convex polygon |
CPolygon3DSampler | Samples points in a convex polygon (in 3D) |
CPolynomialMotionQueue | A motion queue that runs on a piecewise polynomial path. Can be commanded to reach configurations (with or without velocities specified) smoothly using piecewise linear or cubic curves |
CPolynomialPathController | A controller that uses a piecewise polynomial trajectory |
CPredictiveExtrapolationInputProcessor | Translates input and extrapolated velocity into a CartesianTrackingObjective |
CPyController | A controller that interfaces with a python module |
CRampCSpaceAdaptor | A CSpace where configurations are given by (q,dq) config, velocity pairs. Local paths are time-optimal acceleration bounded curves |
CRampEdgeChecker | Edge planner class for the RampCSpaceAdaptor |
CRampInterpolator | |
CRampPathInterpolator | |
CRealTimePlanner | A real-time planner. Supports constant time-stepping or adaptive time-stepping |
CRealTimePlanningThread | An interface to a planning thread |
CResourceGUIBackend | A backend for resource browsing. Natively supports configs, paths, transforms, ik goals, holds, stance, trimeshes |
CRigidObjectModel | A (static) rigid object that may be manipulated |
CRigidObjectPoseWidget | |
CRigidObjectResource | Resource for a RigidObject |
CRobotConstrainedInterpolator | Just like a ConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints |
CRobotController | A base class for a robot controller. The base class does nothing |
CRobotControllerFactory | A class to simplify the loading of different controllers at run time |
CRobotCSpace | Implements a basic robot configuration space with only joint limit constraint testing |
CRobotIKPoseWidget | A widget that allows creating and editing IK constraints |
CRobotLinkPoseWidget | A widget that allows the robot's driven links to be posed |
CRobotModel | The main robot type used in RobotSim |
CRobotModelDriver | Determines the effects of an actuator on the robot configuration |
CRobotModelJoint | Additional joint properties |
CRobotMotorCommand | A collection of basic motor types |
CRobotPlannerSettings | |
CRobotPoseBackend | Contains the functionality for the RobotPose program |
CRobotPoseWidget | |
CRobotResource | Resource for a Robot |
CRobotSensors | A set of sensors for the robot |
CRobotSmoothConstrainedInterpolator | Just like a SmoothConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints |
CRobotStateEstimator | A generic state estimator base class. Base class does nothing |
CRobotTestBackend | RobotTest program |
CRobotUserInterface | An abstract base class for a user interface |
CRRTCommandInterface | An interface that uses the real-time RRT motion planner to achieve the user's objective |
CSelfCollisionConstraint | |
CSendPathCallbackBase | A base class for the path sending callback. Send is called by the planner to update the path used by the execution thread |
CSensorBase | A sensor base class. A SensorBase should allow a Controller to both connect to a simulation as well as a real sensor |
CSensorPlot | |
CSerialControlledRobot | A Klamp't controlled robot that communicates to a robot (either real or virtual) using the Klamp't controller serialization mechanism. Acts as a client connecting to the given host |
CSerialController | A controller that writes sensor data to a socket and reads robot commands from a socket |
CSerializedObjectiveProcessor | Reads an objective function from a reader thread |
CSimGUIBackend | Generic simulation program |
CSimRobotController | A class containing information about an ODE-simulated and controlled robot |
CSimTestBackend | SimTest program |
CSimulator | A physical simulator for a WorldModel |
CSimulatorHook | Any function that should be run per sub-step of the simulation needs to be a SimulatorHook subclass and added to the Simulator.hooks member |
CSingleRigidObjectCSpace | A configuration space for a rigid object, treated like a robot |
CSingleRobotCSpace | A cspace consisting of a single robot configuration in a WorldModel. Feasibility constraints are joint and collision constraints |
CSmoothConstrainedInterpolator | Constructs a piecewise polynomial path between a and b such that each point is near the constraint C(x)=0 |
CSocketObjectiveProcessor | Reads an objective function from a socket |
CSpringHook | A hook that acts as a Hookean (optionally damped) spring to a given fixed target point |
CStance | A collection of holds |
CStanceCSpace | A configuration space that constrains a robot to the IK constraints in a stance, and checks for stability against gravity |
CStanceResource | Resource for a Stance |
CStandardInputProcessor | Translates click-and-drag input into an IKObjective |
CSuppPolyConstraint | |
CTabulatedController | A controller that reads from a grid of torque/desired configuration commands |
CTerminalTimeObjective | A goal that measures absolute difference in terminal time (i.e., penalize stopping at a different time than specified) |
CTerrainModel | A model of a static terrain with known friction |
CTerrainPlannerSettings | |
CTexturizer | Applies a texture to some object |
CTiltSensor | Simulates a tilt sensor that measures the angle of a reference direction about certain axes |
CTimeDelayedSensor | An time delayed "piggyback" sensor |
CTimeObjective | An objective that measures path execution time |
CTimeScaledBezierCurve | A convenience class that stores a Bezier curve and its time scaling. Useful for evaluating the scaled curve, and for plotting it |
CTimeScaling | Maps time into a given path parameter range (e.g., [0,1]) with joint space velocity and acceleration bounds. Stores a piecewise quadratic time scaling. Most users will use the TimeScaledBezierCurve class or OptimizeTimeScaling methods instead |
CTorqueLimitConstraint | |
CTorqueTask | |
CTorqueTimeScaling | A time scaling with torque constraints |t| <= tmax. Assuming fixed base manipulator |
CTransformedSensor | A transformed "piggyback" sensor with a scale, bias, and minimum / maximum |
CTriangle2DSampler | Samples points in a list of 2d triangles |
CTriangle3DSampler | Samples points in a list of 3d triangles |
CTriMeshResource | Resource for a TriMesh. Needs to be overloaded to load from alternate mesh formats (meshing/IO.h) |
CURDFConverter | |
CURDFLinkNode | |
CVelocityObjective | A goal that measures distance to a goal velocity vgoal |
CViewCamera | Draws a camera in the OpenGL world |
CViewContact | Displays a contact point using OpenGL |
CViewGrasp | Displays a grasp using OpenGL |
CViewHold | Displays a hold using OpenGL |
CViewIKGoal | |
CViewPolytope | Displays a support polygon using OpenGL |
CViewResource | |
CViewRobot | Draws the robot (potentially color-coded) |
CViewStance | Displays a stance using OpenGL |
CViewTextures | |
CViewWrench | |
CWheelContactFeature | A wheel contact feature |
CWorkspaceAccelTask | |
CWorldDragWidget | |
CWorldGUIBackend | A generic gui with a WorldModel which allows clicking on entities and loading files |
CWorldModel | The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here |
CWorldPlannerSettings | A structure containing settings that should be used for collision detection, contact solving, etc. Also performs modified collision checking with enabled/disabled collision checking between different objects |
CWorldResource | Resource for a WorldModel |
CWorldSimulation | A physical simulator for a WorldModel |
CWorldSimulationHook | Any function that should be run per sub-step of the simulation needs to be a WorldSimulationHook subclass and added to the WorldSimulation.hooks member |
CWorldViewWidget | A widget interface that can be overloaded to interact with a world |
CWrenchHook | A hook that adds a constant wrench (force f and moment m) to the body |
CXmlODEGeometry | |
CXmlODESettings | |
CXmlRigidObject | |
CXmlRobot | |
CXmlSimulationSettings | |
CXmlTerrain | |
CXmlWorld | |
CZMPTimeScaling | A time scaling with Zero Moment Point constraints. Each section of the multipath corresponds with one of the support polygons |
►NParabolicRamp | |
CDistanceCheckerBase | A base class for a distance checker. ObstacleDistance returns the radius of a L-z norm guaranteed to be collision-free. ObstacleDistanceNorm returns the value of z |
CDynamicPath | A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps |
CFeasibilityCheckerBase | A base class for a feasibility checker |
CParabolicRamp1D | Stores optimal trajectores for an acceleration and velocity-bounded 1D system |
CParabolicRampND | Solves for optimal trajectores for a velocity-bounded ND system |
CRampFeasibilityChecker | A class that encapsulates feaibility checking of a ParabolicRampND |
CRandomNumberGeneratorBase | A custom random number generator that can be provided to DynamicPath::Shortcut() |
►Nurdf | |
CBox | |
CCamera | |
CCollision | |
CColor | |
CCylinder | |
CEntity | |
CGeometry | |
CInertial | |
CJoint | |
CJointCalibration | |
CJointDynamics | |
CJointLimits | |
CJointMimic | |
CJointSafety | Parameters for Joint Safety Controllers |
CJointState | |
CLink | |
CMaterial | |
CMesh | |
CModelInterface | |
CModelState | |
CParseError | |
CPose | |
CRay | |
CRotation | |
CSensor | |
CSphere | |
CTime | |
CTwist | |
CVector3 | |
CVisual | |
CVisualSensor | |
CWorld | |
CDistanceQuery | A method for efficiently caching and updating distance computations using temporal coherence |
CDrawEECallback | |
CDrawEECallback2 | |
CDrawEECallback3 | |
CViewPlot | An OpenGL x-y auto-scrolling plot. Used in SimTest (Interface/SimTestGUI.h) to draw sensor data |