►NAI | |
CAStar | |
►CGeneralizedAStar | |
CNode | |
CGeneralizedAStarWithHashMap | |
CGeneralizedAStarWithMap | |
CIntegerAStar | |
►NCamera | |
CCamera | |
CCameraController_Free | |
CCameraController_Orbit | |
CCameraController_Target | |
CFrustum | |
CViewport | |
►NCommandLine | |
CCommandArg | |
CCommandAuto | |
CCommandBase | |
CCommandHelp | |
CCommandInputValue | |
CCommandSetValue | |
►NGeometry | Contains all definitions in the Geometry package |
CAngular2DOrdering | |
CAnyCollisionGeometry3D | An AnyGeometry with collision detection information |
CAnyCollisionQuery | A class that stores information regarding a collision query. May be slightly faster than running individual queries |
CAnyGeometry3D | A class that stores any kind of geometry we've defined |
CApproximatePenetrationDepth | Uses a propagation method to calculate an approximate penetration distance of mesh m1 inside m2 |
►CArrangement1D | An arrangement of 1-D intervals. Intervals identified by an integer ID |
CLeftInterval | |
CBoxCmp | |
CBoxTraits | |
►CClosestPointCallback | |
CActivePair | |
CCollisionMesh | A triangle mesh along with PQP bounding volume structures that enable fast collision and other proximity queries |
CCollisionMeshQuery | A general-purpose distance querying class |
CCollisionMeshQueryEnhanced | |
CCollisionPointCloud | A point cloud with a fast collision detection data structure |
►CFixedResolutionPointCloud | |
CCell | |
CGrid | A gridding of n-dimensional space |
CGridHash | A grid containing objects (referenced by void pointers) |
CGridSubdivision | A grid with a list of arbitrary objects (given by void pointers) |
CGridTable | A table with entry T on a gridding of n-dimensional space |
CHiGreater | |
CIndexHash | |
►CKDTree | A node of a kd-tree |
CPoint | |
CLoLess | |
CLPSolvePointCallback | Helper callback used in PolytopeProjection2D |
COctree | |
COctreeNode | |
COctreePointSet | Stores a point set P on an octree grid. Allows for O(d) adding, O(d h) range queries and pseudo-O(d) nearest neighbor queries |
►COctreeScalarField | Stores a function f(x) on an octree grid. Allows for O(d) setting, sub O(d) testing of f(x) in range [a,b], O(d h) selection of nodes with values in range [a,b] |
CData | |
CPoint2DWithID | |
CPointCloudKMeansSegmentation | Uses KMeans + connected components to segment a point cloud. Good for getting "superpixels" |
CPointCloudNeighborGraphSegmentation | Uses a neighbor-graph in XYZ space + connected components to segment a point cloud. Good for separating well-separated components |
CPointRay2D | A 2D point or infinite ray. Note: rays should be normalized unit vectors |
CPointRay2DWithID | |
CPointRay3D | A 3D point or infinite ray. Note: rays should be normalized unit vectors |
CPolytopeProjection2D | A method for projecting a polytope defined by the feasible set of a linear program lp onto a 2D subspace. Handles unbounded and infeasible problems |
CRayCastCallback | |
►CSegmentOverlay | Computes the overlay of a set of segments using a sweep line algorithm |
CIntersectionInfo | |
CSpanning | |
CUnboundedPolytope2D | A representation of a possibly unbounded polytope in the 2d plane |
CXMonotoneChain | A polyline with vertices ordered in nondecreasing order |
►NGLDraw | Contains all definitions in the GLDraw package |
CColorGradient | |
CGeometryAppearance | |
CGLColor | An rgba color |
CGLDisplayList | |
CGLFog | |
CGLLight | An OpenGL light |
CGLMaterial | An OpenGL material |
CGLScreenshotProgram | A plugin class that "automatically" saves a movie to disk in the form of PPM screenshots |
CGLTexture1D | 1D texture data for use in OpenGL |
CGLTexture2D | 2D texture data for use in OpenGL |
CGLTextureObject | A GL texture object class. Simplifies allocating and cleaning up texture objects. Usually you only need to interact with GLTexture[X]D and the texture management is handled for you |
CGLView | |
CTransformWidget | |
CWidget | Base class for a visual widget |
CWidgetSet | A container of sub-widgets |
►NGraph | Namespace for all classes and functions in the Graph subdirectory |
CApproximateShortestPathProblem | Approximate single-source shortest paths, whose output is at most (1+epsilon)^d times the true shortest path, where d is the depth of the node. This can be somewhat faster than running true shortest paths |
CCallbackBase | A template base class for a graph traversal |
CCoEdgeIterator | |
CComponentIntCallback | |
CConnectedComponents | |
CCountCallback | Count the number of nodes traversed |
CCycleCallback | Compute if the graph has a cycle |
CDepthIntCallback | Get the depth of all nodes (in an indexed graph, such as Graph) |
CDirectedGraph | A specialization of a Graph to be directed graph |
CEdgeIterator | |
CFindCallback | Find a particular node |
CGraph | Basic template graph structure |
CPathCallback | |
CPathIntCallback | Same as above, but for indexed graphs |
CShortestPathProblem | Single-source shortest paths (Dijkstra's algorithm) |
CShortestPathsIntCallback | |
CTimeCallback | Get the start/finish time of a traversal |
CTimeIntCallback | Same as above, but for indexed graphs |
CTopologicalSortCallback | Perform topological sort, when used with DFS |
CTraversalGraphCallback | Compute the traversal graph of a traversal |
CTraversalGraphIntCallback | Same as above, but for indexed graphs |
CTreeNode | A tree graph structure, represented directly at the node level |
CUndirectedEdgeIterator | |
CUndirectedGraph | A specialization of a Graph to be an undirected graph |
►NMath | Contains all definitions in the Math package |
CAddFunction | |
CAngleInterval | A contiguous range of angles |
CAngleSet | A set of AngleIntervals |
CBLASInterface | An interface to BLAS. Activated with the preprocessor flag HAVE_BLAS=1 |
CBlockPrinter | |
CBlockTridiagonalMatrix | |
CBlockVector | |
CCholeskyDecomposition | Performs the Cholesky decomposition |
CClosedInterval | A closed interval [a,b] |
CClosedIntervalSet | |
CComplex | Complex number class (x + iy) |
CComponentVectorFieldFunction | |
CCompose_SF_VF_Function | A scalar field function h(x) = f(g(x)) (g vector-valued) |
CCompose_VF_VF_Function | A vector field function h(x) = f(g(x)) (f,g vector fields) |
CComposeFunction | |
CComposeScalarFieldFunction | A scalar field h(x) = f(g(x)) |
CCompositeInequalityConstraint | |
CCompositeVectorFieldFunction | |
CConditioner_SymmDiag | A matrix conditioner that does a pre/postmultiply with a diagonal S |
CDiagonalMatrixTemplate | A templated diagonal matrix, represented by a vector of the entries on the diagonal |
CDiffEq2Function | |
CDiffEqFunction | |
CEquationTerm | |
CGaussian | Multivariate gaussian N(mu,K) of d dimensions |
CIndexAndPriority | |
CIndexedVectorFieldFunction | A vector field function f(x) = g(x[xindices])[findices] |
CInequalityConstraint | A vector field with constraints s.t. ci(x) >= 0 |
CInequalityConstraintAdaptor | A class that makes it easier to construct "plugin" classes to alter constraint behavior |
CInterval | A generic interval {a,b}, where { and } can be either (,[ or ),] |
CInverseFunction | |
CIterativeMethod | |
CJacobiPreconditioner | Jacobi preconditioning (inverse of diagonal) |
CLAPACKInterface | An interface to LAPACK. Activated with the preprocessor flag HAVE_CLAPACK=1 |
CLDLDecomposition | Performs the LDL^t decompositoin of a symmetric matrix A |
CLimitConstraint | |
CLinearConstraint | Constraint represented as A*x >= b i.e. constraint value is A*x-b |
CLinearFunction | |
CLinearScalarFieldFunction | |
CLinearVectorFieldFunction | |
CLUDecomposition | Forms the LU decomposition A=PLU |
CMatrixEquation | |
CMatrixEquationPrinter | |
CMatrixIterator | An iterator through MatrixTemplate elements |
CMatrixPrinter | |
CMatrixTemplate | A matrix over the field T |
CMaximumScalarFieldFunction | A scalar field max_i xi |
CMinimumScalarFieldFunction | A scalar field min_i xi |
CMulFunction | |
CNormAccumulator | |
CNormScalarFieldFunction | A scalar field for the L-d norm, where d is passed into the constructor |
CNormSquaredScalarFieldFunction | A scalar field ||x||^2 |
CNRQRDecomposition | The QR decomposition as computed by the algorithm in Numerical Recipes in C |
CNullPreconditioner | Identity precondtioner |
COpenInterval | An open interval (a,b) |
COpenIntervalSet | |
►CPiecewiseLinearFunction | |
CControlPoint | |
►CPiecewiseLinearPath | |
CControlPoint | |
CQNHessianUpdater | Maintains the Cholesky decomposition of the hessian H over Quasi-Newton steps |
CQRDecomposition | Calculates the QR decomposition |
CQuadraticScalarFieldFunction | |
CQuaternion | Complex quaternion class (w + ix + jy + kz) |
CRealFunction | A function from R to R |
CRealFunction2 | |
CRobustSVD | Performs a pre/postconditioned singular value decomposition |
CRowEchelon | Compute reduced row-eschelon form for a matrix A |
CScalarFieldDirectionalFunction | |
CScalarFieldFunction | A function from R^n to R |
CScalarFieldProjectionFunction | |
CScaledOffsetConstraint | |
CSliceVectorFieldFunction | A vector field function f(x) = g(x0 | x0[xindices]=x) |
CSparseMatrixTemplate_CR | Row-major, compressed-row sparse matrix |
CSparseMatrixTemplate_RM | Row-major sparse matrix |
CSparseVectorAccessor | |
CSparseVectorCompressed | |
CSparseVectorFunction | A vector field function with a sparse jacobian. The Jacobian_Sparse and Jacobian_i_Sparse methods must be overridden |
CSparseVectorTemplate | |
CSVDecomposition | Performs the singular value decomposition |
CUniformScaledOffsetConstraint | |
CVector3FieldFunction | |
CVectorFieldFunction | A function from R^n to R^m |
CVectorFieldProjectionFunction | A function g(x) that returns the i'th component of vector field f(x) |
CVectorFunction | A function from R to R^n, identical to RealFunction except a vector is returned |
CVectorIterator | An iterator through VectorTemplate elements |
CVectorPrinter | |
CVectorTemplate | A vector over the field T |
►NMath3D | Contains all the definitions in the Math3D package |
CAABB2D | A 2D axis-aligned bounding box |
CAABB3D | A 3D axis-aligned bounding box |
CAABBTemplate | |
CAngleAxisRotation | Angle-axis 3D rotation parameterization |
CBox2D | A 2D boxThe box is the unit square [0,1]^2 set in the scaled local coordinate system. That is, one corner is at the origin, and it has dimensions [dims.x,dims.y] in the coordinates given by {xbasis,ybasis} |
CBox3D | A 3D boxThe box is the unit cube [0,1]^3 set in the scaled local coordinate system. That is, one corner is at the origin, and it has dimensions [dims.x,dims.y,dims.z] in the coordinates given by {xbasis,ybasis,zbasis} |
CCircle2D | A 2D circle class |
CCircle3D | A 2D circle in 3D space class |
CConvexPolygon2D | A convex connected polygon such that the vertices are in ccw order |
CConvexPolyhedron3D | A convex polyhedron given in a dual representation, planes and vertices of convex hull |
CCylinder3D | A 3D cylinder |
CEllipsoid3D | A 3D ellipsoidThe ellipsoid is the centered unit sphere [-1,1]^3 set in the scaled local coordinate system. That is, the center is at the origin, and its major axes are {xbasis,ybasis,zbasis} with radii {dims.x,dims.y,dims.z} |
CEulerAngleRotation | Euler angle 3D rotation parameterization |
CGeometricPrimitive2D | |
CGeometricPrimitive3D | A generic geometric primitive class |
CLine2D | A 2D line class |
CLine3D | A 3D line class |
CLocalCoordinates2D | |
CLocalCoordinates3D | |
CMatrix2 | A 2x2 matrix class |
CMatrix3 | A 3x3 matrix class |
CMatrix4 | A 4x4 matrix class |
CMomentRotation | "Moment", a.k.a. exponential map, 3D rotation parameterization |
CPlane2D | A 2D plane classRepresents plane with a normal and offset such that x on the plane satisfy dot(normal,x) = offset |
CPlane3D | A 3D plane classRepresents plane with a normal and offset such that x on the plane satisfy dot(normal,x) = offset |
CPolygon2D | An arbitrary connected polygon given by a vertex list |
CPolygon3D | An arbitrary connected polygon in 3D space given by a vertex list |
CQuaternionRotation | Quaternion, a.k.a. Euler parameter, 3D rotation parameterization |
CRay3D | |
CRigidTransform | A rigid-body transformation |
CRigidTransform2D | Same as above, but in 2D |
CScaledLocalCoordinates2D | |
CScaledLocalCoordinates3D | |
CSegment2D | A 2D segment class |
CSegment3D | |
CSphere3D | A 3D sphere class |
CTriangle2D | A 2D triangle class |
CTriangle3D | A 3D triangle class |
CVector2 | A 2D vector class |
CVector3 | A 3D vector class |
CVector4 | A 4D vector class |
►NMeshing | The namespace for all classes/functions in the Meshing package |
CAddTriOffset | |
►CApproximateGeodesic | Computes an approximate geodesic distance over a mesh, from a single source |
CVirtualEdge | |
CBarycentricCoords | |
CFillRasterizer2D | A rasterizer that flat-fills elements of a grid |
CLSConformalMapping | An approximately-conformal parameterization a genus-0 mesh, found by a least-squares method |
CPointCloud3D | A 3D point cloud class |
CRasterizer2D | A base class that allows rasterizing of 2D triangles into a grid |
CSegmentMesh | A basic 2D segment mesh (i.e. collection of polylines) |
CSegmentMeshWithTopology | |
CSmoothFillRasterizer2D | A smooth-fill rasterizer |
CSplitCallback | |
CTriangleClosestPointData | |
CTriMesh | A basic triangle mesh |
CTriMeshAtlas | TODO: a non-genus 0 mesh partitioned into charts |
CTriMeshChart | A chart maps a genus 0 triangle mesh to a 2d disk |
CTriMeshEdge | |
CTriMeshTraversalCallback | A callback base class for traversing triangle mesh topology |
CTriMeshWithTopology | A triangle mesh that contains connectivity relations between vertices and triangles |
CTriSplitter | A class that allows incremental plane-splitting of a triangle mesh |
CVector3Hash | |
CVectorHash | |
CVolumeGrid | A 3D array over a 3D volume, containing Real values |
CVolumeGridIterator | Iterator over a 3D volume grid |
►NOptimization | Namespace for classes and functions in the Optimization package |
CBCMinimizationProblem | A bound-constrained MinimizationProblem. Uses an active-set method to determine the components of the free search direction at x |
CBoundedLSQRSolver | Solve the bounded least-squares problem min||Ax-b||^2 s.t. l <= x <= b accepts infinite constraints too |
CConstrainedMinimizationProblem | Same as MinimizationProblem but with nonlinear constraints C(x)=0 and D(x)<=0, bound constraints bmin/bmax |
CConstrainedNewtonRoot | A globally convergent Newton's method with inequality constraints c(x) >= 0 |
CGLPKInterface | An interface to the GLPK linear program solver. Activated with the HAVE_GLPK preprocessor define |
CInequalityBarrierNLP | |
CLeastSquares | A least-squares problem definition |
CLemkeLCP | Solves a linear complementarity problem |
CLinearConstraints | Linear constraints for LP's and QP'sRepresents the constraints |
CLinearConstraints_Sparse | Sparse linear constraints for LP's and QP'sUnlike dense constraints, AddVariable/AddConstraint are relatively efficient |
CLinearProgram | Linear program definition.Represents the LP min/max c.x subject to
qi <= ai.x <= pi
lj <= xj <= uj |
CLinearProgram_Sparse | Linear program definition with sparse matrix A |
CLogarithmicBarrierFunction | |
CLP_InteriorPoint | Solves a general LP using LP_InteriorPointSolver |
CLP_InteriorPointSolver | An interior-point method for solving a LP |
CLPOptimizerFunction | A vector field v(x) = arg min_y c(x)^T y s.t. q(x) <= A(x)y <= p(x), l(x) <= y <= u(x) where c,A,q,p,l, and u are smooth functions |
CLPOptimumFunction | A scalar field v(x) = min_y c(x)^T y s.t. q(x) <= A(x)y <= p(x), l(x) <= y <= u(x) where c,A,q,p,l, and u are smooth functions |
CLSQRInterface | An interface to a sparse least-squares solver (lsqr) |
CLSQRNewtonRoot | Solves the problem min ||x-xc||^2 s.t. f(x)=0 for some center point xc |
CMinimizationProblem | An iterative solution to minimize f over multidimensional x. May only find a local minimum, depending on the initial point |
CMinNormProblem | Solves a linearly constrained minimum-norm problem |
CMinNormProblem_Sparse | Solves a sparse, linearly constrained minimum-norm problem |
CNewtonRoot | A globally convergent Newton's method for multidimensional root solving. Solves for func(x)=0 |
CNewtonSolver | A newton's-method style solver for a NLP |
CNonlinearProgram | A structure defining a nonlinear program |
CQuadProgPPInterface | An interface to the QuadProg++ quadratic programming solver. Enable with the HAVE_QUADPROGPP=1 preprocessor define |
CQuadraticProgram | Quadratic program definition |
CRegularizedLinearProgram | Solves a linear program with regularization |
CRobustLPSolver | A class that tries out as many available routines as possible to solve an LP |
CRosenbrockFunction | |
►NRedBlack | |
CNode | |
►CTree | |
Citerator | |
CWalkCallback | |
►NSpline | |
CBSpline | |
CBSplineBasis | Defines the B-spline basis for a given knot vector, number of control points |
CMonotonicSpline | A b-spline based monotonic spline |
CPiecewisePolynomial | |
CPiecewisePolynomialND | |
CPolynomial | A simple polynomial class, p(x) = sum_{i=0}^n coef[i]*x^i |
CTimeSegmentation | Divides a real-valued range t[0],t[1],...,t[n-1] into segments |
►NStatistics | Contains all definitions in the statistics directory |
CBernoulliDistribution | |
CBernoulliMAPModel | |
CBetaDistribution | |
CBoxProbabilityDistribution | |
CCategoricalDistribution | |
CCategoricalMAPModel | |
CDataSet | |
CDiracDistribution | |
CDiracMultivariateDistribution | |
CDistributionCollector | Incrementally collects samples from a univariate distribution |
CDistributionCollectorND | Incrementally collects samples from a multivariate distribution |
CGaussianDistribution | |
CGaussianHMM | A model of a temporal sequence consisting of k discrete states each with a gaussian emission probability |
CGaussianHMMRegression | |
CGaussianMixtureModel | A model of a probability distribution consisting of k gaussians |
CGaussianMixtureModelRaw | A more ``raw'' model of a GMM that does not perform a cholesky decomposiition |
CGaussianMixtureRegression | |
CGaussianMultivariateDistribution | |
CGaussianRegression | |
►CHierarchicalClustering | |
CCmp | |
Cdistances | |
CHistogram | 1-D histogram class |
CHistogram2D | 2-D histogram class |
CHistogram3D | 3-D histogram class |
CHistogramND | N-D histogram class |
CIndexHash | |
CIntervalMap | Division of the real numbers into interval sets. Each interval is assigned data of type Data |
CIntervalMap2D | |
CKMeans | A simple clustering method to choose k clusters from a set of data |
CLeastSquares1D | 1-D least squares y = ax+b |
CLinearModel | A linear model of n-dimensional data |
CLinearProcess | |
CLinearProcessHMM | A model of a temporal sequence consisting of k discrete states each with a gaussian emission probability depending on the prior continuous state |
CLinearProcessHMMRegression | |
CLinearProcessHMMState | |
CLogisticModel | Models the probability of a boolean outcome using a logit |
CMultivariateProbabilityDistribution | |
COnlineLeastSquares | Online estimation of least-squares solution to y = A x |
COnlineMoments | Online calculation of mean, covariance, min/max of vectors |
CStochasticLeastSquares | Stochastic gradient descent estimation of least-squares solution to y = A x |
CStochasticPseudoLASSO | Stochastic estimation of solution to y = A x via a LASSO-like procedure min_x ||b-A x||^2 + alpha*||x||_1 |
CUniformProbabilityDistribution | |
CUnivariateProbabilityDistribution | |
►Nstd | |
Ccmp_func | A templated function class like strcmp: returns -1 if a<b, 0 if a==b, 1 if a>b |
CIndexedPriorityQueue | Contains a priority queue with an associated index, allowing updates of the priority value. Priority defined with lowest value first |
Cpriority_queue2 | A better priority queue class than the STL version |
CAddPointCallback | |
CAnalyticalIKSolver | Hook for an analytic inverse kinematics solver. The Solve method must be defined by the subclass |
CAnalyticIKMap | |
CAnalyticIKSolution | A structure containing computed analytic IK solutions |
CAnyCollection | A flexible hierarchical collection of AnyValues, which can be easily initialized to contain primitive values, arrays, or maps. Arrays and maps can be nested as well |
CAnyData | A helper class that points to any kind of data |
CAnyKeyable | Any primitive value (bool, char, unsigned char, int, unsigned int, float, double, string) that we know how to make into a hashable object |
CAnyValue | A polymorphic container class that can contain data of any type |
CArc3D | An arc segment of a circle in space |
►CArray2D | A two-dimensional m x n array |
Citerator | |
►CArray3D | A three-dimensional m x n x parray |
Citerator | |
CArrayMapping | An invertible mapping from indices in [0,imax), which operates in two modes: offset mode adds an offset, and mapping mode stores an explicit mapping |
►CArrayND | |
Citerator | |
CArrayNDRef | |
CAsyncPipeQueue | Asynchronous reader/writer with queues |
CAsyncPipeThread | An asynchronous read/writer that uses multithreading. Subclass will define the transport protocol by setting the transport member (usually blocking I/O) |
CAsyncReaderQueue | Asynchronous reader with queue |
CAsyncReaderThread | An asynchronous reader that uses multithreading. User/subclass will initialize the transport protocol (usually blocking I/O) by setting the transport member |
CAsyncWriterQueue | Asynchronous writer with queue |
CAxisSweptPoint | Parameterizes a circle in space by sweeping a point around a line |
CBasicArrayResource | A basic array data type |
CBasicResource | A basic data type |
CBezierCubicSplineBasis | |
►CBidirectionalRRTKP | A bidirectional RRT planner for kinodynamic systems |
CBridge | |
CBidirectionalRRTPlanner | A single-query RRT (Rapidly-Exploring Random Tree) planner |
CBiRRTInterface | |
►CBisectionEpsilonEdgePlanner | |
CSegment | |
CBisectionEpsilonExplicitEdgePlanner | |
CCardinalSplineBasis | |
CChain | A tree-based chain structure |
CChangeTreeCallback | |
CClosestMilestoneCallback | |
CCombination | A class that enumerates combinations |
CCompoundResourceBase | A resource that is composed of multiple sub-objects, which can themselves be considered resources |
CCondition | |
CConnectedSeedCallback | |
CConstMappedAccessor | A helper class that allows a const vector to be accessed by either indexes or some other keys, given a map from keys to indexes |
CContactFormation | A robot-environment contact formation. The list of contacts contacts[i] is associated with links[i] (pointing from the opposing body into the robot). Usually the opposing body is the environment, but if targets is non-empty, it gives the index of the body for which contact is made |
CContactPoint | A single contact point, i.e. a position, normal, and friction coefficient |
CContactPoint2D | A 2D contact point, i.e. a position, normal, and friction coefficient |
CContextStack | A helper for maintaining and printing context |
CConvexVolume | |
CCoverageLimitedPathCallback | |
CCrossEntropyPlanner | |
CCSpace | Motion planning configuration space base class |
►CCSpaceAnalysis | |
CSetCharacteristics | |
CCSVTable | A table read from a CSV file |
CCubicSplineBasis | |
CCVGeodesicManifold | |
CCVSpace | A C-space on configurations and velocities (q,v) that linear uses linear interpolation on velocities |
►CDataDatabase | A heirarchical database of arbitrary values |
CEntry | |
CDDimensionCmp | |
CDirectionCosines | 9-D rotation parameterization that lays out the columns of the rotation matrix in a single vector |
CDirtyData | |
►CDisplacementPlanner | A planner that minimizes the the displacement cost of violated constraints using a RRT-like strategy |
CDynamicShortestPathNode | |
CEdge | |
CMilestone | |
CPathSearchNode | |
CTestResult | Stores all values for a single obstacle displacement test |
CDynamicChain2D | |
CDynamicChain3D | |
CDynamicLink2D | |
CDynamicLink3D | |
CDynamicStructure | A loggable structure that changes over time. Useful for monitoring / storing system state |
CDynamicStructureAutoCopy | A watcher that automatically copies changes from one path to another |
CDynamicStructureDelta | A change to a DynamicStructure |
CDynamicStructureLogger | A watcher that logs all changes to disk |
CDynamicStructureView | The partner class for DynamicStructure that allows accessing members via [key] syntax and setting values using the = operator |
CDynamicStructureWatcherBase | A base class that captures changes to a DynamicStructure |
CDynamicTrajectory | |
CDynamicValue | Convenience class for accessing primitive members of DynamicStructures. Can treat like an object of type T (references are not allowed) |
CEdgeCollision | |
CEdgeDistance | |
CEdgeLengthFunction | |
CEdgePlanner | Abstract base class for an edge planner |
CEdgePlannerWithCSpaceContainer | Convenience class for edge planner that holds a smart pointer to a CSpace. Typically used for single-obstacle edge checkers as follows: |
CEquilibriumTester | Testing COM equilibrium given some number of contacts |
CExplicitCSpace | Configuration space that exposes N obstacle checks. This functionality can be used in a motion planner to speed up planning by delaying certain expensive obstacle checks, or to provide reasons for infeasibility |
CExplicitEdgePlanner | Default edge planner: checks each constraint sequentially using the space's LocalPlanner(a,b,i) method |
CExplicitMMCSpace | |
CEZCallTrace | Helper class that eases function call tracing |
CEZTrace | A Trace that dumps on destruction. Only one may be active at any time |
CFace | |
CFalseEdgePlanner | Edge planner that is never visible |
CFastFindHeap | Implements a heap that stores objects of type type, with priority keys of type ptype |
CFastSampler | Samples from a weighted discrete set in O(log(n)) time after an O(n) initialization |
CFile | A cross-platform class for reading/writing binary data |
CFixedSizeHeap | A heap of fixed maximum size N. Each element is indexed by an integer 0...N-1. The priority key of each element is of type ptype |
CFMMInterface | |
CFMMMotionPlanner | |
CFMTAStar | |
CFreeRLG | RLG that sets a virtual linkage of free dof's using analytic IK |
CFrictionConePolygon | Polygonal pyramid representation of the friction cone |
CGeneralizedCubicBezierCurve | A generalized Bezier curve that uses the CSpace's Interpolate routine to generate the smooth interpolation |
CGeneralizedCubicBezierSpline | A Bezier spline with segment durations |
CGeodesicManifold | Extra information for a CSpace about manifold derivatives |
CGeometric2DCollection | |
CGeometric2DCSpace | 2D cspace whose obstacles are geometric primitives |
CGeometric2DEdgePlanner | |
CGeometric3DCollection | |
►CGivenPathEdgePlanner | An edge planner that connects two feasible milestones with a specified path |
CPathBisector | |
CGLUINavigationProgram | A 3D navigation program based on GLUI |
CGLUIProgramBase | |
CGLUTNavigationProgram | A 3D navigation program based on GLUT |
CGLUTProgramBase | |
CGreedySubsetAStar | |
CGreedySubsetAStar2 | |
CGrid2DCSpace | |
►CGrid2Indices | A 2D lattice of irregular ranges |
Citerator | |
CHalfEdge | |
CHaltingCondition | A termination condition for a planner. Supports max iteration count, time limit, absolute cost, and cost improvement conditions |
Chash< AnyKeyable > | |
CHConditioner | |
CHeap | Implements a heap that stores objects of type type, with priority keys of type ptype |
CHermiteCSpace | A C-space on configurations and velocities (q,v) that uses Hermite interpolation to construct continuously differentiable curves |
CHermiteGeodesicManifold | |
CHermiteSplineBasis | |
CHollowBall | A 3-D annulus innerRadius <= |x-center| <= outerRadius |
CIKGoal | A structure defining a link's desired configuration for IK |
CIKGoalFunction | Function class that returns the position/rotation errors associated with a given IKGoal |
CImage | |
CImageMipmapped | |
CImageOperator | |
CIncrementalMMPRM_Explicit | |
CIncrementalMMPRM_Search | |
CIndexSet | A generic set of indices, either listed explicitly or in a range. If imax < imin, this indicates that the indices should be used instead |
CIntegratedKinodynamicCSpace | Implements a simulation function by integrating forward dynamics |
CIntegrationFunction | |
CIntPair | A lightweight integer 2-tuple class |
CIntTriple | A lightweight integer 3-tuple class |
CIntTuple | An integer tuple class |
CJointStructure | Calculates workspace bounds for a robot with constrained links |
CKDTreePointLocation | An accelerated point location algorithm that uses a K-D tree |
CKeyBezierCubic | |
CKeyCardinal | |
CKeyHermite | |
CKeyTCB | |
CKinematicChain2DTemplate | |
CKinematicChain3DTemplate | |
CKinematicCSpaceAdaptor | Adapts a kinematic cspace (given in the constructor) to a kinodynamic one |
CKinematicLink2D | |
CKinematicLink3D | |
CKinodynamicCSpace | A CSpace used for kinodynamic planning |
CKinodynamicMilestonePath | Stores a kinodynamic path with piecewise constant controls |
►CKinodynamicTree | Data structure for a kinodynamic planning tree |
CEdgeData | |
CLazyLoader | A utility that allows objects from files to be loaded from and saved to disk on demand |
CLazyRRTKinodynamicPlanner | A lazy version of kinodynamic RRT |
CLeftPointLess | |
CLessEdgePriority | |
CLinearSplineBasis | |
CLogitLikelihoodFunction | |
Clsqr_func | |
Clsqr_input | |
Clsqr_output | |
Clsqr_work | |
CMapIterator | |
CMappedAccessor | A helper class that allows a vector to be accessed by either indexes or some other keys, given a map from keys to indexes |
►CMCRPlanner | A planner that minimizes the the number of violated constraints using a RRT-like strategy |
CEdge | |
CMilestone | |
CMode | |
CTransition | |
►CMCRPlannerGoalSet | A planner that minimizes the the number of violated constraints using a RRT-like strategy |
CEdge | |
CMilestone | |
CMode | |
CTransition | |
CMilestonePath | A sequence of locally planned paths between milestones |
CModularCSpace | An ExplicitCSpace that holds a list of obstacles |
CMotionPlannerFactory | A motion planner creator |
CMotionPlannerInterface | An abstract class for a sample-based motion planner |
CMotionPlanningProblem | A structure to specify the space, endpoints, and cost function of a motion planning problem |
CMultiModalCSpace | Multi-modal configuration space base class |
►CMultiModalPRM | |
CModeInfo | |
CTransitionIndex | |
CTransitionInfo | |
CMultiRobot2DCSpace | One or more 2D robots translating and/or rotating in a 2D workspace |
CMutex | |
Cmyarray | |
Cmyhashtable | |
Cmyindexedlist | |
►Cmylist | |
Ctype_node | |
Cmypriorityqueue | |
Cmyqueue | |
CNaivePointLocation | The Naive O(n) point location algorithm |
CNeighborhoodCSpace | A helper class that defines a feasible set around the 'radius' neighborhood of 'center'. Often used for endgame regions |
CNewtonEulerSolver | The Featherstone algorithm for O(n) computation of either joint torques from accelerations, or accelerations from torques |
CNodeWithPriority | |
CObjectPrinter | Provides a unified interface to "pretty print" objects to the console, or other ostreams |
CObstacleCheckerBase | Abstract base class for an obstacle |
CObstacleDisplacementCSpace | A class that needs to be subclassed in order to implement a minimum constraint displacement problem |
COptimalSubsetAStar | |
COptimalSubsetAStar2 | |
COrientedSupportPolygon | Calculation of a support polygon with a non-vertical gravity vector |
CParamList | |
CPathCoordinate | |
CPathInfo | |
CPathRotation | |
CPathTranslationBezier | |
CPathTranslationCardinal | |
CPathTranslationTCB | |
CPCLParser | |
CPermutation | A class that enumerates permutations |
CPerturbationCSpace | |
CPerturbationTreePlanner | A tree-based randomized planner that extends the roadmap by sampling the neighborhood of existing samples |
CPickCallback | |
CPiggybackCSpace | A helper class that assists with selective overriding of another cspace's methods |
CPiggybackEdgePlanner | |
CPiggybackMotionPlanner | Helper class for higher-order planners – passes all calls to another motion planner |
CPixel | |
CPointLocationBase | A uniform abstract interface to point location data structures |
CPointMeshCollider | |
CPointPointCollider | |
CPointToSetMotionPlanner | Tries to produce a path between a start node and a goal space. Does so via goal sampling |
CPQP_Results | |
CPrimitiveValue | A basic primitive value type, including integers, floats, and strings |
CPRMStarInterface | |
CPRMStarPlanner | |
CProgressPrinter | Prints the progress of an iterative, long computation |
CPropertyMap | A simple map from keys to values |
►CPRTPlanner | The PRT (Probabilistic Roadmap of Trees) planner |
CTree | |
CTreeEdge | |
Cr5g6b5 | |
CRandomBestPointLocation | The approximate O(k) point location algorithm that returns the closest of k randomly chosen points |
CRandomPointLocation | The approximate O(1) point location algorithm that simply returns a random point |
►CRange2Indices | A 2D lattice of regular ranges |
Citerator | |
►CRange3Indices | A 3D lattice of regular ranges |
Citerator | |
►CRangeIndices | A regular range of indices ik = start+k*stride, for k=0 to size-1 |
Citerator | |
CRangeMap | Same as RangeSet, but a map rather than a set. O(1) find as well |
CRangeMap2D | Same as RangeSet2D but a map. O(1) find as well as count |
CRangeSet | A set of integers within a range. Operates in two modes, set or bit vector mode. In bit-vector mode, allows O(1) membership testing (but the range is fixed). Set mode is just like a regular set |
CRangeSet2D | A set of 2d indices within a range. Operates in two modes, set or bit matrix mode. In bit-matrix mode, allows O(1) membership testing (but the range is fixed). Set mode is just like a regular set |
CRefObjectBase | |
CRefPointer | |
CRefStorage | |
CRemoveTreeCallback | |
CResourceBase | A generic "resource" that can be saved/loaded to disk |
CResourceLibrary | A collection of resources, which may be loaded/saved as separate files in a directory or inlined into a single XML file. Helps with managing subdirectories of data |
CResourceLibraryResource | A resource that contains a ResourceLibrary. Useful for hierarchical resource libraries |
CRestartMotionPlanner | A multiple-restart motion planner that turns a feasible motion planner into an anytime optimal motion planner by keeping the best path found so far |
CRestartShortcutMotionPlanner | A multiple-restart motion planner that turns a feasible motion planner into an anytime optimal motion planner by keeping the best path found so far and shortcutting the best path |
CRigidBodyDynamics | A class for simulating a rigid body. Uses Euler integration |
CRigidBodyVelocity | |
CRigidRobot2DCSpace | Translating and rotating 2D robot in a 2D workspace |
CRigidRobot3DCSpace | Translating and rotating 3D robot in a 3D workspace |
CRLG | A sampler for closed-chain kinematics that takes joint workspace bounds into account |
CRNG48 | Uses the ANSI C rand48 functions |
CRoadmapEdgeInfo | |
CRoadmapPlanner | A base roadmap planner class |
CRoadmapPlannerInterface | |
CRobotCOMFunction | Function class that measures the difference between the robot's center of mass and a desired COM |
CRobotDynamics3D | Class defining kinematic and dynamic state of a robot, with commonly used functions. Inherits from RobotKinematics3D |
CRobotIKFunction | A vector field function class defining C(q)=0 for IK |
CRobotIKSolver | A Newton-Raphson robot IK solver |
CRobotKinematics3D | Class defining kinematics of a robot, and commonly used functions |
CRobotLink3D | Kinematic and physical parameters of a link |
CRobotWithGeometry | The base class for a robot definition |
CRotationAngleFunction | |
CRotationAxisFunction | |
CRRTInterface | |
CRRTKinodynamicPlanner | The RRT planner for kinodynamic systems |
CRRTPlanner | A basic RRT (Rapidly-Exploring Random Tree) planner |
CSawtoothAngleEnvelope | |
CSBLInterface | |
CSBLPlanner | The SBL motion planner |
CSBLPlannerWithGrid | An SBL planner whose trees use grids for point location |
CSBLPRT | A probabilistic roadmap of trees, where SBL is used for local planning |
CSBLPRTInterface | |
CSBLSubdivision | A grid-based subdivision to be used for SBL |
►CSBLTree | A tree of configurations to be used in the SBL motion planner |
CEdgeInfo | |
CSBLTreeWithGrid | An SBL motion planner that uses a SBLSubdivision to pick the next node to expand, and nodes to connect |
CSBLTreeWithIndex | An SBLTree with a node index |
CScopedLock | |
CSetComponentCallback | |
CShortcutMotionPlanner | Plans a path and then tries to shortcut it with the remaining time |
CSignalHandler | A base class for an object-oriented signal handler. Properly restores old signal handlers once the class is destroyed |
CSimFunction | |
CSimpleFile | A simple file format that has named items and whitespace-delimited values |
CSimpleParser | A simple class to break files into tokens, punctuation, comments, and whitespace |
CSimplexEnumerator | |
CSingleObstacleCSpace | Converges an ExplicitCSpace to a regular CSpace based on one selected obstacle |
CSingletonSetProjector | A single-element subset |
CSmartPointer | A smart pointer class. Performs automatic reference counting |
CSocketClientTransport | A transport protocol that connects as a client to the given address |
CSocketPipeWorker | Launches a thread for asynchronous bidirectional communication with a socket |
CSocketReadWorker | Launches a thread for asynchronous reading from a socket |
CSocketServerTransport | A transport protocol that hosts a client and sends messages to the clients after they connect |
CSpaceTimeCSpace | A kinodynamic space that sets x=(t,q), u=(dt,u0) with dt > 0. Based on an existing kinodynamic cspace, provided upon input |
CSparseArray | A sparse 1D array class |
CSparseMatrixMultiplier | |
CSpatialMatrix | |
CSpatialVector | |
CSplineBase | |
CSplineBasis | |
CSplineBezierCubic | |
CSplineCardinal | |
CSplineHermite | |
CSplineIterator | |
CSplineLinear | |
CSplineTCB | |
CSplineTimeBase | |
CStandardRNG | Interface for a random number generator |
CStatCollector | Collects statistics (min,max,mean,stddev,etc) on floating-point data |
►CStatDatabase | A heirarchical database of statistical data (counts and StatCollectors). Useful for performance testing |
CData | |
CStraightLineEpsilonPlanner | Straight-line edge planner that divides the segment until epsilon is reached |
CStraightLineObstacleDistancePlanner | Straight-line edge planner that divides the segment until the segment distance is below CSpace.ObstacleDistance() |
CStreamTransport | A transport protocol that uses STL streams |
CStringSerializer | A helper class that automatically serializes data to a string and deserializes data using the as<T>() function |
►CStripe2Indices | A 2D lattice indexing into a linear sequence, in a striping pattern |
Citerator | |
►CStripe3Indices | A 3D lattice indexing into a linear sequence, in a striping pattern |
Citerator | |
CSubgroupExplicitCSpace | Groups together multiple obstacles from an ExplicitCSpace into a smaller number of obstacles |
CSubset | A finite subset of numbered items with convenient operators for union, intersection, difference, etc |
CSubsetCost | |
CSubsetExplicitCSpace | Extracts a subset of obstacles from an ExplicitCSpace |
CSubsetProjector | A subset of a configuration space equipped with a projection mechanism |
CSupportPolygon | Calculation of the support polygon given a number of contacts |
CSyncPipe | An synchronous reader/writer. User/subclass will initialize the transport protocol (usually blocking I/O) by setting the transport member |
Ctga_file_header | |
CTimeCSpace | |
CTimedMilestonePath | |
CTimeIndexCmp | |
CTimer | |
CTiXmlElement | |
CTrace | Allows detailed tracing of program execution |
CTraceFunction | |
CTraceFunctionCall | |
CTraceItem | |
CTranslatingRobot2DCSpace | Translating 2D robot in a 2D workspace |
CTransportBase | A base class for a transport protocol for unstructured data |
►CTreeRoadmapPlanner | A base class to be used for tree-based roadmap planners |
CMilestone | |
CTrueEdgePlanner | Edge planner that always is visible |
CUnionFind | From an indexed set of elments, allows fast unioning of the elements into sets |
CUniquePointer | A unique pointer class that duplicates on non-const access. It's used to implement non-conflicting writes to data stored in multiple locations, for example in sparse state representations |
CUpdatePrioritySPP | |
CVectorizeCallback | |
CVertex | |
CVisibilityCSpace | A helper class that defines a feasible set as the visible set of a given set of points |
►CVisibilityGraphPlanner | |
CVertex | |
CWeibullDistribution | |
CWildcard | An any-schema is a simple validation and mapping scheme for AnyCollections. The keys in the document must match up with the schema |
CWorkspaceBound | Bounds the workspace of a robot linkage with a simple bound |
CWorldPositionFunction | Function class that returns the world-space position of a point on the robot |
CWrench | |
Cx1r5g5b5 | |