CKDL::ArticulatedBodyInertia | 6D Inertia of a articulated body |
CKDL::Chain | This class encapsulates a serial kinematic interconnection structure |
▼Cstd::exception | STL class |
CKDL::Joint::joint_type_exception | |
CKDL::Frame | Frame transformation in 3D space (rotation + translation) |
CKDL::Frame2 | A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics |
CKDL::FrameAcc | |
CKDL::FrameVel | |
CKDL::Jacobian | |
CKDL::JntArray | This class represents an fixed size array containing joint values of a KDL::Chain |
CKDL::JntArrayAcc | |
CKDL::JntArrayVel | |
CKDL::Joint | This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties |
▼CKDL::Path | The specification of the path of a trajectory |
CKDL::Path_Circle | A circular Path with 'open ends' |
CKDL::Path_Composite | A Path being the composition of other Path objects |
CKDL::Path_Cyclic_Closed | A Path representing a closed circular movement, which is traversed a number of times |
CKDL::Path_Line | A path representing a line from A to B |
CKDL::Path_Point | A Path consisting only of a point in space |
CKDL::Path_RoundedComposite | The specification of a path, composed of way-points with rounded corners |
CKDL::RigidBodyInertia | 6D Inertia of a rigid body |
CKDL::Rotation | Rotations in 3 dimensional space |
CKDL::Rotation2 | A 2D Rotation class, for conventions see Rotation |
CKDL::RotationAcc | |
CKDL::RotationalInertia | |
▼CKDL::RotationalInterpolation | RotationalInterpolation specifies the rotational part of a geometric trajectory |
CKDL::RotationalInterpolation_SingleAxis | An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation |
CKDL::RotationVel | |
CKDL::Segment | 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 |
CKDL::ChainIdSolver_Vereshchagin::segment_info | |
▼CKDL::SolverI | Solver interface supporting storage and description of the latest error |
CKDL::ChainDynParam | 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 |
CKDL::ChainFkSolverAcc | This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain |
▼CKDL::ChainFkSolverPos | This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain |
CKDL::ChainFkSolverPos_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) |
▼CKDL::ChainFkSolverVel | This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain |
CKDL::ChainFkSolverVel_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) |
▼CKDL::ChainIdSolver | This abstract class encapsulates the inverse dynamics solver for a KDL::Chain |
CKDL::ChainIdSolver_RNE | Recursive newton euler inverse dynamics solver |
CKDL::ChainIdSolver_Vereshchagin | Dynamics calculations by constraints based on Vereshchagin 1989 |
CKDL::ChainIkSolverAcc | This abstract class encapsulates the inverse acceleration solver for a KDL::Chain |
▼CKDL::ChainIkSolverPos | This abstract class encapsulates the inverse position solver for a KDL::Chain |
CKDL::ChainIkSolverPos_LMA | Solver for the inverse position kinematics that uses Levenberg-Marquardt |
CKDL::ChainIkSolverPos_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 |
CKDL::ChainIkSolverPos_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 |
▼CKDL::ChainIkSolverVel | This abstract class encapsulates the inverse velocity solver for a KDL::Chain |
CKDL::ChainIkSolverVel_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 |
CKDL::ChainIkSolverVel_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 |
CKDL::ChainIkSolverVel_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 |
CKDL::ChainIkSolverVel_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 |
CKDL::ChainJntToJacDotSolver | Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation |
CKDL::ChainJntToJacSolver | Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers |
CKDL::Stiffness | Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided.. |
CTraits< KDL::doubleVel > | |
▼CKDL::Trajectory | An abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile |
CKDL::Trajectory_Composite | Trajectory_Composite implements a trajectory that is composed of underlying trajectoria |
CKDL::Trajectory_Segment | Trajectory_Segment combines a VelocityProfile and a Path into a trajectory |
CKDL::Trajectory_Stationary | Implements a "trajectory" of a stationary position for an amount of time |
CKDL::Tree | This class encapsulates a tree kinematic interconnection structure |
CKDL::TreeElement | |
▼CKDL::TreeFkSolverPos | This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree |
CKDL::TreeFkSolverPos_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) |
▼CKDL::TreeIkSolverPos | This abstract class encapsulates the inverse position solver for a KDL::Chain |
CKDL::TreeIkSolverPos_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 |
CKDL::TreeIkSolverPos_Online | Implementation of a general inverse position kinematics algorithm to calculate the position transformation from Cartesian to joint space of a general KDL::Tree |
▼CKDL::TreeIkSolverVel | This abstract class encapsulates the inverse velocity solver for a KDL::Tree |
CKDL::TreeIkSolverVel_wdls | |
CKDL::TreeJntToJacSolver | |
CKDL::Twist | Both translational and rotational velocities |
CKDL::TwistAcc | |
CKDL::TwistVel | |
CKDL::Vector | A concrete implementation of a 3 dimensional vector class |
CKDL::Vector2 | 2D version of Vector |
CKDL::VectorAcc | |
CKDL::VectorVel | |
▼CKDL::VelocityProfile | A VelocityProfile stores the velocity profile that is used within a trajectory |
CKDL::VelocityProfile_Dirac | A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time |
CKDL::VelocityProfile_Rectangular | A rectangular VelocityProfile generates a constant velocity for moving from A to B |
CKDL::VelocityProfile_Spline | A spline VelocityProfile trajectory interpolation |
CKDL::VelocityProfile_Trap | A Trapezoidal VelocityProfile implementation |
CKDL::VelocityProfile_TrapHalf | A 'Half' Trapezoidal VelocityProfile |
CKDL::Wrench | Both translational and rotational acceleration |