Klamp't  0.8.1
Class Hierarchy
This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 123456]
 CActuatorCommandA basic motor type. Handles PID, torque, and locked velocity modes
 CConfigFixerA class for "fixing" a configuration by sampling a feasible configuration near it
 CConstrainedInterpolatorConstruct a polyline between a and b such that each point is near the constraint C(x)=0
 CConstraintCheckerChecks for static constraints for a robot at a given stance
 CContactFeatureBaseA feature on the robot that can be used for contact
 CContactFeatureMappingA mapping from a ContactFeature to a point on the environment
 CContactFeedbackInfoContainer for information about contacts regarding a certain object. Can be set to accumulate a summary over sub-steps or detailed data per-step
 CControlledRobotAn 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
 CControlledRobotSimulatorA class containing information about an ODE-simulated and controlled robot
 CCustomTimeScalingA base class for a time scaling with colocation point constraints. Subclasses should fill in dsmax, ds2ddsConstraintNormals, and ds2ddsConstraintOffsets before Optimize is called
 CParabolicRamp::DistanceCheckerBaseA 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
 CDistanceQueryA method for efficiently caching and updating distance computations using temporal coherence
 CDynamicMotionPlannerBaseA 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
 CParabolicRamp::DynamicPathA bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps
 CParabolicRamp::FeasibilityCheckerBaseA base class for a feasibility checker
 CGeneralizedRobotA collection of robots and objects that can be treated like one "big robot"
 CGenericGUIBaseA base class for a GUI frontend. Performs message passing to the backend in the easily serializable AnyCollection format
 CGraspSlightly more sophisticated than a Stance, a Grasp allows some of the robot's degrees of freedom to be fixed
 CHoldA single contact between the robot and the environment
 CInputProcessorBaseAn abstract base class for processing user input through a 2D mouse driven gui into PlannerObjectives used for planning
 Curdf::JointSafetyParameters for Joint Safety Controllers
 CLinearPathA piecewise linear path
 CManagedGeometryA "smart" geometry loading class that caches previous geometries, and does not re-load or re-initialize existing collision detection data structures if the item has already been loaded
 CMultiPathA very general multi-section path container
 CODEContactListA list of contacts between two objects, returned as feedback from the simulation
 CODEGeometryAn ODE collision geometry
 CODEObjectIDAn index that identifies some ODE object in the world. Environments, robots, robot bodies, or rigid objects are supported
 CODERigidObjectAn ODE-simulated rigid object
 CODERobotA robot simulated in an ODE "world"
 CODESimulatorAn interface to the ODE simulator
 CODESimulatorSettingsGlobal simulator settings
 CODESurfacePropertiesSurface properties for any ODE rigid object, robot link, or fixed object
 CParabolicRamp::ParabolicRamp1DStores optimal trajectores for an acceleration and velocity-bounded 1D system
 CParabolicRamp::ParabolicRampNDSolves for optimal trajectores for a velocity-bounded ND system
 CPlannerObjectiveBaseA base class for objective functionals in time/config/velocity space
 CPolynomialMotionQueueA 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
 CParabolicRamp::RampFeasibilityCheckerA class that encapsulates feaibility checking of a ParabolicRampND
 CParabolicRamp::RandomNumberGeneratorBaseA custom random number generator that can be provided to DynamicPath::Shortcut()
 CRealTimePlannerA real-time planner. Supports constant time-stepping or adaptive time-stepping
 CRealTimePlanningThreadAn interface to a planning thread
 CRigidObjectA (static) rigid object that may be manipulated
 CRobotControllerA base class for a robot controller. The base class does nothing
 CRobotControllerFactoryA class to simplify the loading of different controllers at run time
 CRobotJointAdditional joint properties
 CRobotJointDriverDetermines the effects of an actuator on the robot configuration
 CRobotMotorCommandA collection of basic motor types
 CRobotSensorsA set of sensors for the robot
 CRobotStateEstimatorA generic state estimator base class. Base class does nothing
 CRobotUserInterfaceAn abstract base class for a user interface
 CRobotWorldThe main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here
 CSendPathCallbackBaseA base class for the path sending callback. Send is called by the planner to update the path used by the execution thread
 CSensorBaseA sensor base class. A SensorBase should allow a Controller to both connect to a simulation as well as a real sensor
 CSmoothConstrainedInterpolatorConstructs a piecewise polynomial path between a and b such that each point is near the constraint C(x)=0
 CTerrainA model of a static terrain with known friction
 CTexturizerApplies a texture to some object
 CTimeScaledBezierCurveA convenience class that stores a Bezier curve and its time scaling. Useful for evaluating the scaled curve, and for plotting it
 CTimeScalingMaps 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
 CTriangle2DSamplerSamples points in a list of 2d triangles
 CTriangle3DSamplerSamples points in a list of 3d triangles
 CViewCameraDraws a camera in the OpenGL world
 CViewContactDisplays a contact point using OpenGL
 CViewGraspDisplays a grasp using OpenGL
 CViewHoldDisplays a hold using OpenGL
 CViewPlotAn OpenGL x-y auto-scrolling plot. Used in SimTest (Interface/SimTestGUI.h) to draw sensor data
 CViewPolytopeDisplays a support polygon using OpenGL
 CViewRobotDraws the robot (potentially color-coded)
 CViewStanceDisplays a stance using OpenGL
 CWorldPlannerSettingsA 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
 CWorldSimulationA physical simulator for a RobotWorld
 CWorldSimulationHookAny function that should be run per sub-step of the simulation needs to be a WorldSimulationHook subclass and added to the WorldSimulation.hooks member