| ▼NKDL | |
| CArticulatedBodyInertia | 6D Inertia of a articulated body |
| CChain | This class encapsulates a serial kinematic interconnection structure |
| CChainDynParam | Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives |
| CChainFkSolverAcc | This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain |
| CChainFkSolverPos | This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain |
| CChainFkSolverPos_recursive | Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain) |
| CChainFkSolverVel | This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain |
| CChainFkSolverVel_recursive | Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain) |
| CChainIdSolver | This abstract class encapsulates the inverse dynamics solver for a KDL::Chain |
| CChainIdSolver_RNE | Recursive newton euler inverse dynamics solver |
| ▼CChainIdSolver_Vereshchagin | Dynamics calculations by constraints based on Vereshchagin 1989 |
| Csegment_info | |
| CChainIkSolverAcc | This abstract class encapsulates the inverse acceleration solver for a KDL::Chain |
| CChainIkSolverPos | This abstract class encapsulates the inverse position solver for a KDL::Chain |
| CChainIkSolverPos_LMA | Solver for the inverse position kinematics that uses Levenberg-Marquardt |
| CChainIkSolverPos_NR | Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain |
| CChainIkSolverPos_NR_JL | Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain |
| CChainIkSolverVel | This abstract class encapsulates the inverse velocity solver for a KDL::Chain |
| CChainIkSolverVel_pinv | Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain |
| CChainIkSolverVel_pinv_givens | Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain |
| CChainIkSolverVel_pinv_nso | Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain |
| CChainIkSolverVel_wdls | Implementation of a inverse velocity kinematics algorithm based on the weighted pseudo inverse with damped least-square to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain |
| CChainJntToJacDotSolver | Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation |
| CChainJntToJacSolver | Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers |
| CFrame | Frame transformation in 3D space (rotation + translation) |
| CFrame2 | A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics |
| CFrameAcc | |
| CFrameVel | |
| CJacobian | |
| CJntArray | This class represents an fixed size array containing joint values of a KDL::Chain |
| CJntArrayAcc | |
| CJntArrayVel | |
| ▼CJoint | This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties |
| Cjoint_type_exception | |
| CPath | The specification of the path of a trajectory |
| CPath_Circle | A circular Path with 'open ends' |
| CPath_Composite | A Path being the composition of other Path objects |
| CPath_Cyclic_Closed | A Path representing a closed circular movement, which is traversed a number of times |
| CPath_Line | A path representing a line from A to B |
| CPath_Point | A Path consisting only of a point in space |
| CPath_RoundedComposite | The specification of a path, composed of way-points with rounded corners |
| CRigidBodyInertia | 6D Inertia of a rigid body |
| CRotation | Rotations in 3 dimensional space |
| CRotation2 | A 2D Rotation class, for conventions see Rotation |
| CRotationAcc | |
| CRotationalInertia | |
| CRotationalInterpolation | RotationalInterpolation specifies the rotational part of a geometric trajectory |
| CRotationalInterpolation_SingleAxis | An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation |
| CRotationVel | |
| CSegment | This class encapsulates a simple segment, that is a "rigid
body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments |
| CSolverI | Solver interface supporting storage and description of the latest error |
| CStiffness | Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided.. |
| CTrajectory | An abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile |
| CTrajectory_Composite | Trajectory_Composite implements a trajectory that is composed of underlying trajectoria |
| CTrajectory_Segment | Trajectory_Segment combines a VelocityProfile and a Path into a trajectory |
| CTrajectory_Stationary | Implements a "trajectory" of a stationary position for an amount of time |
| CTree | This class encapsulates a tree kinematic interconnection structure |
| CTreeElement | |
| CTreeFkSolverPos | This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree |
| CTreeFkSolverPos_recursive | Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree) |
| CTreeIkSolverPos | This abstract class encapsulates the inverse position solver for a KDL::Chain |
| CTreeIkSolverPos_NR_JL | Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree |
| CTreeIkSolverPos_Online | Implementation of a general inverse position kinematics algorithm to calculate the position transformation from Cartesian to joint space of a general KDL::Tree |
| CTreeIkSolverVel | This abstract class encapsulates the inverse velocity solver for a KDL::Tree |
| CTreeIkSolverVel_wdls | |
| CTreeJntToJacSolver | |
| CTwist | Both translational and rotational velocities |
| CTwistAcc | |
| CTwistVel | |
| CVector | A concrete implementation of a 3 dimensional vector class |
| CVector2 | 2D version of Vector |
| CVectorAcc | |
| CVectorVel | |
| CVelocityProfile | A VelocityProfile stores the velocity profile that is used within a trajectory |
| CVelocityProfile_Dirac | A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time |
| CVelocityProfile_Rectangular | A rectangular VelocityProfile generates a constant velocity for moving from A to B |
| CVelocityProfile_Spline | A spline VelocityProfile trajectory interpolation |
| CVelocityProfile_Trap | A Trapezoidal VelocityProfile implementation |
| CVelocityProfile_TrapHalf | A 'Half' Trapezoidal VelocityProfile |
| CWrench | Both translational and rotational acceleration |
| CTraits< KDL::doubleVel > | |
