CActuatorCommand | A basic motor type. Handles PID, torque, and locked velocity modes |
►CBasicResource | |
CTriMeshResource | Resource for a TriMesh. Needs to be overloaded to load from alternate mesh formats (meshing/IO.h) |
►CCallbackBase | |
CDrawEECallback | |
CDrawEECallback2 | |
CDrawEECallback3 | |
Curdf::Collision | |
Curdf::Color | |
CCOMAccelTask | |
►CCompoundResourceBase | |
CConfigsResource | Resource for multiple Config's |
CGraspResource | Resource for a Grasp |
CHoldResource | Resource for a Hold |
CIKGoalResource | Resource for an IKGoal |
CLinearPathResource | Resource for a LinearPath |
CMultiPathResource | Resource for a MultiPath |
CStanceResource | Resource for a Stance |
CWorldResource | Resource for a RobotWorld |
CConfigFixer | A class for "fixing" a configuration by sampling a feasible configuration near it |
►CConstrainedInterpolator | Construct a polyline between a and b such that each point is near the constraint C(x)=0 |
CRobotConstrainedInterpolator | Just like a ConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints |
CConstraintChecker | Checks for static constraints for a robot at a given stance |
CContactDistanceMetric | |
►CContactFeatureBase | A feature on the robot that can be used for contact |
CEdgeContactFeature | An edge contact feature |
CFaceContactFeature | A (planar) face contact feature |
CFacesContactFeature | A contact feature consisting of multiple faces |
CPointContactFeature | A single point contact feature |
CWheelContactFeature | A wheel contact feature |
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 | |
►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 |
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 |
CControlledRobotSimulator | A class containing information about an ODE-simulated and controlled robot |
►CCSpace | |
CRampCSpaceAdaptor | A CSpace where configurations are given by (q,dq) config, velocity pairs. Local paths are time-optimal acceleration bounded curves |
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 |
CContactTimeScaling | A time scaling with torque/contact constraints |
CTorqueTimeScaling | A time scaling with torque constraints |t| <= tmax. Assuming fixed base manipulator |
CZMPTimeScaling | A time scaling with Zero Moment Point constraints. Each section of the multipath corresponds with one of the support polygons |
CParabolicRamp::DistanceCheckerBase | 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 |
CDistanceQuery | A method for efficiently caching and updating distance computations using temporal coherence |
►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 |
CDynamicHybridTreePlanner | The preferred dynamic sampling-based planner for realtime planning. Will alternate sampling-based planning and smoothing via shortcutting |
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) |
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 |
CParabolicRamp::DynamicPath | A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps |
CDynamicHybridTreePlanner::EdgeData | |
►CEdgePlanner | |
CRampEdgeChecker | Edge planner class for the RampCSpaceAdaptor |
CGeneralizedRobot::Element | |
Curdf::Entity | |
►CParabolicRamp::FeasibilityCheckerBase | A base class for a feasibility checker |
CCSpaceFeasibilityChecker | Adapter for the ParabolicRamp feasibility checking routines |
CGeneralizedRobot | A collection of robots and objects that can be treated like one "big robot" |
►CGenericBackendBase | |
CCompositeBackend | |
►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 |
►CGLNavigationBackend | A backend that manages a camera and performs OpenGL scene management |
►CWorldGUIBackend | A generic gui with a RobotWorld which allows clicking on entities and loading files |
►CResourceGUIBackend | A backend for resource browsing. Natively supports configs, paths, transforms, ik goals, holds, stance, trimeshes |
CRobotPoseBackend | Contains the functionality for the RobotPose program |
CRobotTestBackend | RobotTest program |
►CSimGUIBackend | Generic simulation program |
CSimTestBackend | SimTest program |
►CGenericGUIBase | A base class for a GUI frontend. Performs message passing to the backend in the easily serializable AnyCollection format |
CGLUIGUI | A base class for GLUI GUIs |
CGLUTGUI | |
►CGeodesicCSpace | |
CActiveRobotCSpace | A CSpace for just a few dofs of a robot. Slightly faster than using a regular RobotCSpace then picking out subvectors |
►CRobotCSpace | Implements a basic robot configuration space with only joint limit constraint testing |
►CSingleRobotCSpace | A cspace consisting of a single robot configuration in a RobotWorld. Feasibility constraints are joint and collision constraints |
►CContactCSpace | A SingleRobotCSpace for a robot maintaining contact |
CStanceCSpace | A configuration space that constrains a robot to the IK constraints in a stance, and checks for stability against gravity |
►Curdf::Geometry | |
Curdf::Box | |
Curdf::Cylinder | |
Curdf::Mesh | |
Curdf::Sphere | |
CGeometryManager::GeometryList | |
CGeometryManager | |
►CGLUIProgramBase | |
CGLUIGUI | A base class for GLUI GUIs |
►CGLUTProgramBase | |
CGLUTGUI | |
CGrasp | Slightly more sophisticated than a Stance, a Grasp allows some of the robot's degrees of freedom to be fixed |
CHold | A single contact between the robot and the environment |
►CInequalityConstraint | |
CCollisionConstraint | |
CSelfCollisionConstraint | |
CSuppPolyConstraint | |
CTorqueLimitConstraint | |
Curdf::Inertial | |
►CInputProcessorBase | An abstract base class for processing user input through a 2D mouse driven gui into PlannerObjectives used for planning |
►CSerializedObjectiveProcessor | Reads an objective function from a reader thread |
CSocketObjectiveProcessor | Reads an objective function from a socket |
►CStandardInputProcessor | Translates click-and-drag input into an IKObjective |
CPredictiveExtrapolationInputProcessor | Translates input and extrapolated velocity into a CartesianTrackingObjective |
►CInterpolator | |
CRampInterpolator | |
CRampPathInterpolator | |
Curdf::Joint | |
CJointAccelTask | |
Curdf::JointCalibration | |
Curdf::JointDynamics | |
Curdf::JointLimits | |
Curdf::JointMimic | |
Curdf::JointSafety | Parameters for Joint Safety Controllers |
Curdf::JointState | |
►CLimitConstraint | |
CJointLimitConstraint | |
CLinearPath | A piecewise linear path |
Curdf::Link | |
CManagedGeometry | A "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 |
►Cmap | |
CStance | A collection of holds |
Curdf::Material | |
Curdf::ModelInterface | |
Curdf::ModelState | |
►CMotionQueueInterface | |
CDefaultMotionQueueInterface | A MotionQueueInterface that just sends to a PolynomialMotionQueue |
CMultiPath | A very general multi-section path container |
CDynamicHybridTreePlanner::NodeData | |
CObjectPlannerSettings | |
CODEContactList | A list of contacts between two objects, returned as feedback from the simulation |
CODEGeometry | An ODE collision geometry |
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 |
CParabolicRamp::ParabolicRamp1D | Stores optimal trajectores for an acceleration and velocity-bounded 1D system |
CParabolicRamp::ParabolicRampND | Solves for optimal trajectores for a velocity-bounded ND system |
CMultiPath::PathSection | |
►CPlannerObjectiveBase | A base class for objective functionals in time/config/velocity space |
CCartesianObjective | A goal that measures point-to-point distance |
CCartesianTrackingObjective | Tracking a path in cartesian space |
CCompositeObjective | An objective that merges contributions from multiple other objective functions |
CConfigObjective | A goal that measures distance to a goal configuration qgoal |
CIKObjective | A goal for an IK solution (including possibly rotation) |
CTerminalTimeObjective | A goal that measures absolute difference in terminal time (i.e., penalize stopping at a different time than specified) |
CTimeObjective | An objective that measures path execution time |
CVelocityObjective | A goal that measures distance to a goal velocity vgoal |
►CPolygon3D | |
CFaceContactFeature | A (planar) face contact feature |
►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 |
Curdf::Pose | |
CParabolicRamp::RampFeasibilityChecker | A class that encapsulates feaibility checking of a ParabolicRampND |
CParabolicRamp::RandomNumberGeneratorBase | A custom random number generator that can be provided to DynamicPath::Shortcut() |
CRealTimePlanner | A real-time planner. Supports constant time-stepping or adaptive time-stepping |
CRealTimePlanningThread | An interface to a planning thread |
►CResourceBase | |
CPointCloudResource | Resource for a PointCloud3D |
CRigidObjectResource | Resource for a RigidObject |
CRobotResource | Resource for a Robot |
CRigidObject | A (static) rigid object that may be manipulated |
►CRobotController | A base class for a robot controller. The base class does nothing |
CContactJointTrackingController | Makes a joint tracking controller 'aware' of a contact formation |
CFeedforwardController | A class that adds a feedforward torque to the basic control. The necessary feedforward torque is estimated assuming the robot is fixed-base |
►CJointTrackingController | A controller base class that reads out a desired servo position and velocity using the method GetDesiredState |
CPolynomialPathController | A controller that uses a piecewise polynomial trajectory |
CLoggingController | A controllre that saves/replays low-level commands from disk |
COperationalSpaceController | A combination of multiple "tasks" that define a weighted optimization objective for the joint torques |
CPyController | A controller that interfaces with a python module |
CSerialController | A controller that writes sensor data to a socket and reads robot commands from a socket |
CTabulatedController | A controller that reads from a grid of torque/desired configuration commands |
CRobotControllerFactory | A class to simplify the loading of different controllers at run time |
CRobotJoint | Additional joint properties |
CRobotJointDriver | Determines the effects of an actuator on the robot configuration |
CRobotMotorCommand | A collection of basic motor types |
CRobotPlannerSettings | |
CRobotSensors | A set of sensors for the robot |
►CRobotStateEstimator | A generic state estimator base class. Base class does nothing |
CIntegratedStateEstimator | A state estimator that integrates information from accelerometers (i.e., an Inertial Measurement Unit) and gravity sensors |
COmniscientStateEstimator | A state estimator will full knowledge of the robot's simulated state. An ODERobot must be provided at initialization |
►CRobotUserInterface | An abstract base class for a user interface |
►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 |
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 |
►CMTPlannerCommandInterface | A base class for a multithreaded planning robot UI. Subclasses must call planningThread.SetStartConfig(), SetCSpace(), and SetPlanner() |
CMTIKPlannerCommandInterface | |
CMTRRTCommandInterface | |
►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 |
CIKPlannerCommandInterface | An interface uses safe IK as the real-time planner class to achieve the user's objective |
CRRTCommandInterface | An interface that uses the real-time RRT motion planner to achieve the user's objective |
CJointCommandInterface | An interface that allows the user to pose individual joints using mouse dragging |
►CRobotWithGeometry | |
CRobot | The main robot type used in RobotSim |
CRobotWorld | The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here |
Curdf::Rotation | |
►Cruntime_error | |
Curdf::ParseError | |
►CSE3CSpace | |
CSingleRigidObjectCSpace | A configuration space for a rigid object, treated like a robot |
CSendPathCallbackBase | A base class for the path sending callback. Send is called by the planner to update the path used by the execution thread |
Curdf::Sensor | |
►CSensorBase | A sensor base class. A SensorBase should allow a Controller to both connect to a simulation as well as a real sensor |
CAccelerometer | Simulates an accelerometer |
CCameraSensor | Simulates an RGB, D, or RGB+D camera sensor. Provides a 2D grid of color and/or depth values, capped and quantized |
CContactSensor | Simulates a contact sensor / tactile sensor |
CCorruptedSensor | A "piggyback" sensor that corrupts readings with quantization error and gaussian noise |
CDriverTorqueSensor | Simulates a torque sensor |
CFilteredSensor | An exponentially smoothed filter that acts as a "piggyback" sensor |
CForceTorqueSensor | Simulates a force-torque sensor mounted between a link and its parent. Can be configured to be up to 6DOF |
CGyroSensor | Simulates a gyroscope |
CIMUSensor | An inertial measurement unit. May provide all or some of a rigid body's state |
CJointPositionSensor | Simulates a joint encoder |
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 |
CTiltSensor | Simulates a tilt sensor that measures the angle of a reference direction about certain axes |
CTimeDelayedSensor | An time delayed "piggyback" sensor |
CTransformedSensor | A transformed "piggyback" sensor with a scale, bias, and minimum / maximum |
CSensorPlot | |
►CSimpleParser | |
►CLineReader | |
CHoldReader | |
►CSmoothConstrainedInterpolator | Constructs a piecewise polynomial path between a and b such that each point is near the constraint C(x)=0 |
CRobotSmoothConstrainedInterpolator | Just like a SmoothConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints |
CTerrain | A model of a static terrain with known friction |
CTerrainPlannerSettings | |
CTexturizer | Applies a texture to some object |
Curdf::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 |
CTorqueTask | |
►CTriangle2DSampler | Samples points in a list of 2d triangles |
CPolygon2DSampler | Samples points in a convex polygon |
►CTriangle3DSampler | Samples points in a list of 3d triangles |
CPolygon3DSampler | Samples points in a convex polygon (in 3D) |
Curdf::Twist | |
CURDFConverter | |
CURDFLinkNode | |
Curdf::Vector3 | |
►CVectorFieldFunction | |
CParameterizedVectorFieldFunction | A VectorFieldFunction that depends on a parameter theta |
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 | |
CViewPlot | An OpenGL x-y auto-scrolling plot. Used in SimTest (Interface/SimTestGUI.h) to draw sensor data |
CViewPolytope | Displays a support polygon using OpenGL |
CViewResource | |
CViewRobot | Draws the robot (potentially color-coded) |
CViewStance | Displays a stance using OpenGL |
CViewTextures | |
CViewWrench | |
Curdf::Visual | |
►Curdf::VisualSensor | |
Curdf::Camera | |
Curdf::Ray | |
►CWidget | |
CRobotLinkPoseWidget | A widget that allows the robot's driven links to be posed |
CWorldDragWidget | |
►CWidgetSet | |
CRigidObjectPoseWidget | |
CRobotIKPoseWidget | A widget that allows creating and editing IK constraints |
CRobotPoseWidget | |
CWorkspaceAccelTask | |
Curdf::World | |
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 |
CWorldSimulation | A physical simulator for a RobotWorld |
►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 |
CForceHook | A hook that adds a constant force to a body |
CLocalForceHook | A hook that adds a constant force in world coordinates to a point on a body given in local coordinates |
CSpringHook | A hook that acts as a Hookean spring to a given fixed target point |
CWrenchHook | A hook that adds a constant wrench (force f and moment m) to the body |
CXmlODEGeometry | |
CXmlODESettings | |
CXmlRigidObject | |
CXmlRobot | |
CXmlSimulationSettings | |
CXmlTerrain | |
CXmlWorld | |