KrisLibrary  1.0.0
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
 NAI
 NCamera
 NCommandLine
 NGeometryContains all definitions in the Geometry package
 NGLDrawContains all definitions in the GLDraw package
 NGraphNamespace for all classes and functions in the Graph subdirectory
 NMathContains all definitions in the Math package
 NMath3DContains all the definitions in the Math3D package
 NMeshingThe namespace for all classes/functions in the Meshing package
 NOptimizationNamespace for classes and functions in the Optimization package
 NRedBlack
 NSpline
 NStatisticsContains all definitions in the statistics directory
 Nstd
 CAddPointCallback
 CAnalyticalIKSolverHook for an analytic inverse kinematics solver. The Solve method must be defined by the subclass
 CAnalyticIKMap
 CAnalyticIKSolutionA structure containing computed analytic IK solutions
 CAnyCollectionA 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
 CAnyDataA helper class that points to any kind of data
 CAnyKeyableAny primitive value (bool, char, unsigned char, int, unsigned int, float, double, string) that we know how to make into a hashable object
 CAnyValueA polymorphic container class that can contain data of any type
 CArc3DAn arc segment of a circle in space
 CArray2DA two-dimensional m x n array
 CArray3DA three-dimensional m x n x parray
 CArrayMappingAn 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
 CArrayNDRef
 CAsyncPipeQueueAsynchronous reader/writer with queues
 CAsyncPipeThreadAn asynchronous read/writer that uses multithreading. Subclass will define the transport protocol by setting the transport member (usually blocking I/O)
 CAsyncReaderQueueAsynchronous reader with queue
 CAsyncReaderThreadAn asynchronous reader that uses multithreading. User/subclass will initialize the transport protocol (usually blocking I/O) by setting the transport member
 CAsyncWriterQueueAsynchronous writer with queue
 CAxisSweptPointParameterizes a circle in space by sweeping a point around a line
 CBasicArrayResourceA basic array data type
 CBasicResourceA basic data type
 CBezierCubicSplineBasis
 CBidirectionalRRTKPA bidirectional RRT planner for kinodynamic systems
 CBidirectionalRRTPlannerA single-query RRT (Rapidly-Exploring Random Tree) planner
 CBiRRTInterface
 CBisectionEpsilonEdgePlanner
 CBisectionEpsilonExplicitEdgePlanner
 CCardinalSplineBasis
 CChainA tree-based chain structure
 CChangeTreeCallback
 CClosestMilestoneCallback
 CCombinationA class that enumerates combinations
 CCompoundResourceBaseA resource that is composed of multiple sub-objects, which can themselves be considered resources
 CCondition
 CConnectedSeedCallback
 CConstMappedAccessorA helper class that allows a const vector to be accessed by either indexes or some other keys, given a map from keys to indexes
 CContactFormationA 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
 CContactPointA single contact point, i.e. a position, normal, and friction coefficient
 CContactPoint2DA 2D contact point, i.e. a position, normal, and friction coefficient
 CContextStackA helper for maintaining and printing context
 CConvexVolume
 CCoverageLimitedPathCallback
 CCrossEntropyPlanner
 CCSpaceMotion planning configuration space base class
 CCSpaceAnalysis
 CCSVTableA table read from a CSV file
 CCubicSplineBasis
 CCVGeodesicManifold
 CCVSpaceA C-space on configurations and velocities (q,v) that linear uses linear interpolation on velocities
 CDataDatabaseA heirarchical database of arbitrary values
 CDDimensionCmp
 CDirectionCosines9-D rotation parameterization that lays out the columns of the rotation matrix in a single vector
 CDirtyData
 CDisplacementPlannerA planner that minimizes the the displacement cost of violated constraints using a RRT-like strategy
 CDynamicChain2D
 CDynamicChain3D
 CDynamicLink2D
 CDynamicLink3D
 CDynamicStructureA loggable structure that changes over time. Useful for monitoring / storing system state
 CDynamicStructureAutoCopyA watcher that automatically copies changes from one path to another
 CDynamicStructureDeltaA change to a DynamicStructure
 CDynamicStructureLoggerA watcher that logs all changes to disk
 CDynamicStructureViewThe partner class for DynamicStructure that allows accessing members via [key] syntax and setting values using the = operator
 CDynamicStructureWatcherBaseA base class that captures changes to a DynamicStructure
 CDynamicTrajectory
 CDynamicValueConvenience class for accessing primitive members of DynamicStructures. Can treat like an object of type T (references are not allowed)
 CEdgeCollision
 CEdgeDistance
 CEdgeLengthFunction
 CEdgePlannerAbstract base class for an edge planner
 CEdgePlannerWithCSpaceContainerConvenience class for edge planner that holds a smart pointer to a CSpace. Typically used for single-obstacle edge checkers as follows:
 CEquilibriumTesterTesting COM equilibrium given some number of contacts
 CExplicitCSpaceConfiguration 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
 CExplicitEdgePlannerDefault edge planner: checks each constraint sequentially using the space's LocalPlanner(a,b,i) method
 CExplicitMMCSpace
 CEZCallTraceHelper class that eases function call tracing
 CEZTraceA Trace that dumps on destruction. Only one may be active at any time
 CFace
 CFalseEdgePlannerEdge planner that is never visible
 CFastFindHeapImplements a heap that stores objects of type type, with priority keys of type ptype
 CFastSamplerSamples from a weighted discrete set in O(log(n)) time after an O(n) initialization
 CFileA cross-platform class for reading/writing binary data
 CFixedSizeHeapA 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
 CFreeRLGRLG that sets a virtual linkage of free dof's using analytic IK
 CFrictionConePolygonPolygonal pyramid representation of the friction cone
 CGeneralizedCubicBezierCurveA generalized Bezier curve that uses the CSpace's Interpolate routine to generate the smooth interpolation
 CGeneralizedCubicBezierSplineA Bezier spline with segment durations
 CGeodesicManifoldExtra information for a CSpace about manifold derivatives
 CGeometric2DCollection
 CGeometric2DCSpace2D cspace whose obstacles are geometric primitives
 CGeometric2DEdgePlanner
 CGeometric3DCollection
 CGivenPathEdgePlannerAn edge planner that connects two feasible milestones with a specified path
 CGLUINavigationProgramA 3D navigation program based on GLUI
 CGLUIProgramBase
 CGLUTNavigationProgramA 3D navigation program based on GLUT
 CGLUTProgramBase
 CGreedySubsetAStar
 CGreedySubsetAStar2
 CGrid2DCSpace
 CGrid2IndicesA 2D lattice of irregular ranges
 CHalfEdge
 CHaltingConditionA termination condition for a planner. Supports max iteration count, time limit, absolute cost, and cost improvement conditions
 Chash< AnyKeyable >
 CHConditioner
 CHeapImplements a heap that stores objects of type type, with priority keys of type ptype
 CHermiteCSpaceA C-space on configurations and velocities (q,v) that uses Hermite interpolation to construct continuously differentiable curves
 CHermiteGeodesicManifold
 CHermiteSplineBasis
 CHollowBallA 3-D annulus innerRadius <= |x-center| <= outerRadius
 CIKGoalA structure defining a link's desired configuration for IK
 CIKGoalFunctionFunction class that returns the position/rotation errors associated with a given IKGoal
 CImage
 CImageMipmapped
 CImageOperator
 CIncrementalMMPRM_Explicit
 CIncrementalMMPRM_Search
 CIndexSetA generic set of indices, either listed explicitly or in a range. If imax < imin, this indicates that the indices should be used instead
 CIntegratedKinodynamicCSpaceImplements a simulation function by integrating forward dynamics
 CIntegrationFunction
 CIntPairA lightweight integer 2-tuple class
 CIntTripleA lightweight integer 3-tuple class
 CIntTupleAn integer tuple class
 CJointStructureCalculates workspace bounds for a robot with constrained links
 CKDTreePointLocationAn accelerated point location algorithm that uses a K-D tree
 CKeyBezierCubic
 CKeyCardinal
 CKeyHermite
 CKeyTCB
 CKinematicChain2DTemplate
 CKinematicChain3DTemplate
 CKinematicCSpaceAdaptorAdapts a kinematic cspace (given in the constructor) to a kinodynamic one
 CKinematicLink2D
 CKinematicLink3D
 CKinodynamicCSpaceA CSpace used for kinodynamic planning
 CKinodynamicMilestonePathStores a kinodynamic path with piecewise constant controls
 CKinodynamicTreeData structure for a kinodynamic planning tree
 CLazyLoaderA utility that allows objects from files to be loaded from and saved to disk on demand
 CLazyRRTKinodynamicPlannerA lazy version of kinodynamic RRT
 CLeftPointLess
 CLessEdgePriority
 CLinearSplineBasis
 CLogitLikelihoodFunction
 Clsqr_func
 Clsqr_input
 Clsqr_output
 Clsqr_work
 CMapIterator
 CMappedAccessorA helper class that allows a vector to be accessed by either indexes or some other keys, given a map from keys to indexes
 CMCRPlannerA planner that minimizes the the number of violated constraints using a RRT-like strategy
 CMCRPlannerGoalSetA planner that minimizes the the number of violated constraints using a RRT-like strategy
 CMilestonePathA sequence of locally planned paths between milestones
 CModularCSpaceAn ExplicitCSpace that holds a list of obstacles
 CMotionPlannerFactoryA motion planner creator
 CMotionPlannerInterfaceAn abstract class for a sample-based motion planner
 CMotionPlanningProblemA structure to specify the space, endpoints, and cost function of a motion planning problem
 CMultiModalCSpaceMulti-modal configuration space base class
 CMultiModalPRM
 CMultiRobot2DCSpaceOne or more 2D robots translating and/or rotating in a 2D workspace
 CMutex
 Cmyarray
 Cmyhashtable
 Cmyindexedlist
 Cmylist
 Cmypriorityqueue
 Cmyqueue
 CNaivePointLocationThe Naive O(n) point location algorithm
 CNeighborhoodCSpaceA helper class that defines a feasible set around the 'radius' neighborhood of 'center'. Often used for endgame regions
 CNewtonEulerSolverThe Featherstone algorithm for O(n) computation of either joint torques from accelerations, or accelerations from torques
 CNodeWithPriority
 CObjectPrinterProvides a unified interface to "pretty print" objects to the console, or other ostreams
 CObstacleCheckerBaseAbstract base class for an obstacle
 CObstacleDisplacementCSpaceA class that needs to be subclassed in order to implement a minimum constraint displacement problem
 COptimalSubsetAStar
 COptimalSubsetAStar2
 COrientedSupportPolygonCalculation of a support polygon with a non-vertical gravity vector
 CParamList
 CPathCoordinate
 CPathInfo
 CPathRotation
 CPathTranslationBezier
 CPathTranslationCardinal
 CPathTranslationTCB
 CPCLParser
 CPermutationA class that enumerates permutations
 CPerturbationCSpace
 CPerturbationTreePlannerA tree-based randomized planner that extends the roadmap by sampling the neighborhood of existing samples
 CPickCallback
 CPiggybackCSpaceA helper class that assists with selective overriding of another cspace's methods
 CPiggybackEdgePlanner
 CPiggybackMotionPlannerHelper class for higher-order planners – passes all calls to another motion planner
 CPixel
 CPointLocationBaseA uniform abstract interface to point location data structures
 CPointMeshCollider
 CPointPointCollider
 CPointToSetMotionPlannerTries to produce a path between a start node and a goal space. Does so via goal sampling
 CPQP_Results
 CPrimitiveValueA basic primitive value type, including integers, floats, and strings
 CPRMStarInterface
 CPRMStarPlanner
 CProgressPrinterPrints the progress of an iterative, long computation
 CPropertyMapA simple map from keys to values
 CPRTPlannerThe PRT (Probabilistic Roadmap of Trees) planner
 Cr5g6b5
 CRandomBestPointLocationThe approximate O(k) point location algorithm that returns the closest of k randomly chosen points
 CRandomPointLocationThe approximate O(1) point location algorithm that simply returns a random point
 CRange2IndicesA 2D lattice of regular ranges
 CRange3IndicesA 3D lattice of regular ranges
 CRangeIndicesA regular range of indices ik = start+k*stride, for k=0 to size-1
 CRangeMapSame as RangeSet, but a map rather than a set. O(1) find as well
 CRangeMap2DSame as RangeSet2D but a map. O(1) find as well as count
 CRangeSetA 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
 CRangeSet2DA 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
 CResourceBaseA generic "resource" that can be saved/loaded to disk
 CResourceLibraryA 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
 CResourceLibraryResourceA resource that contains a ResourceLibrary. Useful for hierarchical resource libraries
 CRestartMotionPlannerA multiple-restart motion planner that turns a feasible motion planner into an anytime optimal motion planner by keeping the best path found so far
 CRestartShortcutMotionPlannerA 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
 CRigidBodyDynamicsA class for simulating a rigid body. Uses Euler integration
 CRigidBodyVelocity
 CRigidRobot2DCSpaceTranslating and rotating 2D robot in a 2D workspace
 CRigidRobot3DCSpaceTranslating and rotating 3D robot in a 3D workspace
 CRLGA sampler for closed-chain kinematics that takes joint workspace bounds into account
 CRNG48Uses the ANSI C rand48 functions
 CRoadmapEdgeInfo
 CRoadmapPlannerA base roadmap planner class
 CRoadmapPlannerInterface
 CRobotCOMFunctionFunction class that measures the difference between the robot's center of mass and a desired COM
 CRobotDynamics3DClass defining kinematic and dynamic state of a robot, with commonly used functions. Inherits from RobotKinematics3D
 CRobotIKFunctionA vector field function class defining C(q)=0 for IK
 CRobotIKSolverA Newton-Raphson robot IK solver
 CRobotKinematics3DClass defining kinematics of a robot, and commonly used functions
 CRobotLink3DKinematic and physical parameters of a link
 CRobotWithGeometryThe base class for a robot definition
 CRotationAngleFunction
 CRotationAxisFunction
 CRRTInterface
 CRRTKinodynamicPlannerThe RRT planner for kinodynamic systems
 CRRTPlannerA basic RRT (Rapidly-Exploring Random Tree) planner
 CSawtoothAngleEnvelope
 CSBLInterface
 CSBLPlannerThe SBL motion planner
 CSBLPlannerWithGridAn SBL planner whose trees use grids for point location
 CSBLPRTA probabilistic roadmap of trees, where SBL is used for local planning
 CSBLPRTInterface
 CSBLSubdivisionA grid-based subdivision to be used for SBL
 CSBLTreeA tree of configurations to be used in the SBL motion planner
 CSBLTreeWithGridAn SBL motion planner that uses a SBLSubdivision to pick the next node to expand, and nodes to connect
 CSBLTreeWithIndexAn SBLTree with a node index
 CScopedLock
 CSetComponentCallback
 CShortcutMotionPlannerPlans a path and then tries to shortcut it with the remaining time
 CSignalHandlerA base class for an object-oriented signal handler. Properly restores old signal handlers once the class is destroyed
 CSimFunction
 CSimpleFileA simple file format that has named items and whitespace-delimited values
 CSimpleParserA simple class to break files into tokens, punctuation, comments, and whitespace
 CSimplexEnumerator
 CSingleObstacleCSpaceConverges an ExplicitCSpace to a regular CSpace based on one selected obstacle
 CSingletonSetProjectorA single-element subset
 CSmartPointerA smart pointer class. Performs automatic reference counting
 CSocketClientTransportA transport protocol that connects as a client to the given address
 CSocketPipeWorkerLaunches a thread for asynchronous bidirectional communication with a socket
 CSocketReadWorkerLaunches a thread for asynchronous reading from a socket
 CSocketServerTransportA transport protocol that hosts a client and sends messages to the clients after they connect
 CSpaceTimeCSpaceA kinodynamic space that sets x=(t,q), u=(dt,u0) with dt > 0. Based on an existing kinodynamic cspace, provided upon input
 CSparseArrayA sparse 1D array class
 CSparseMatrixMultiplier
 CSpatialMatrix
 CSpatialVector
 CSplineBase
 CSplineBasis
 CSplineBezierCubic
 CSplineCardinal
 CSplineHermite
 CSplineIterator
 CSplineLinear
 CSplineTCB
 CSplineTimeBase
 CStandardRNGInterface for a random number generator
 CStatCollectorCollects statistics (min,max,mean,stddev,etc) on floating-point data
 CStatDatabaseA heirarchical database of statistical data (counts and StatCollectors). Useful for performance testing
 CStraightLineEpsilonPlannerStraight-line edge planner that divides the segment until epsilon is reached
 CStraightLineObstacleDistancePlannerStraight-line edge planner that divides the segment until the segment distance is below CSpace.ObstacleDistance()
 CStreamTransportA transport protocol that uses STL streams
 CStringSerializerA helper class that automatically serializes data to a string and deserializes data using the as<T>() function
 CStripe2IndicesA 2D lattice indexing into a linear sequence, in a striping pattern
 CStripe3IndicesA 3D lattice indexing into a linear sequence, in a striping pattern
 CSubgroupExplicitCSpaceGroups together multiple obstacles from an ExplicitCSpace into a smaller number of obstacles
 CSubsetA finite subset of numbered items with convenient operators for union, intersection, difference, etc
 CSubsetCost
 CSubsetExplicitCSpaceExtracts a subset of obstacles from an ExplicitCSpace
 CSubsetProjectorA subset of a configuration space equipped with a projection mechanism
 CSupportPolygonCalculation of the support polygon given a number of contacts
 CSyncPipeAn 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
 CTraceAllows detailed tracing of program execution
 CTraceFunction
 CTraceFunctionCall
 CTraceItem
 CTranslatingRobot2DCSpaceTranslating 2D robot in a 2D workspace
 CTransportBaseA base class for a transport protocol for unstructured data
 CTreeRoadmapPlannerA base class to be used for tree-based roadmap planners
 CTrueEdgePlannerEdge planner that always is visible
 CUnionFindFrom an indexed set of elments, allows fast unioning of the elements into sets
 CUniquePointerA 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
 CVisibilityCSpaceA helper class that defines a feasible set as the visible set of a given set of points
 CVisibilityGraphPlanner
 CWeibullDistribution
 CWildcardAn any-schema is a simple validation and mapping scheme for AnyCollections. The keys in the document must match up with the schema
 CWorkspaceBoundBounds the workspace of a robot linkage with a simple bound
 CWorldPositionFunctionFunction class that returns the world-space position of a point on the robot
 CWrench
 Cx1r5g5b5