KDL  1.4.0
Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 123]
 CKDL::ArticulatedBodyInertia6D Inertia of a articulated body
 CKDL::ChainThis class encapsulates a serial kinematic interconnection structure
 Cstd::exceptionSTL class
 CKDL::Joint::joint_type_exception
 CKDL::FrameFrame transformation in 3D space (rotation + translation)
 CKDL::Frame2A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics
 CKDL::FrameAcc
 CKDL::FrameVel
 CKDL::Jacobian
 CKDL::JntArrayThis class represents an fixed size array containing joint values of a KDL::Chain
 CKDL::JntArrayAcc
 CKDL::JntArrayVel
 CKDL::JointThis class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties
 CKDL::PathThe specification of the path of a trajectory
 CKDL::Path_CircleA circular Path with 'open ends'
 CKDL::Path_CompositeA Path being the composition of other Path objects
 CKDL::Path_Cyclic_ClosedA Path representing a closed circular movement, which is traversed a number of times
 CKDL::Path_LineA path representing a line from A to B
 CKDL::Path_PointA Path consisting only of a point in space
 CKDL::Path_RoundedCompositeThe specification of a path, composed of way-points with rounded corners
 CKDL::RigidBodyInertia6D Inertia of a rigid body
 CKDL::RotationRotations in 3 dimensional space
 CKDL::Rotation2A 2D Rotation class, for conventions see Rotation
 CKDL::RotationAcc
 CKDL::RotationalInertia
 CKDL::RotationalInterpolationRotationalInterpolation specifies the rotational part of a geometric trajectory
 CKDL::RotationalInterpolation_SingleAxisAn interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation
 CKDL::RotationVel
 CKDL::SegmentThis 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::SolverISolver interface supporting storage and description of the latest error
 CKDL::ChainDynParamImplementation 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::ChainFkSolverAccThis abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain
 CKDL::ChainFkSolverPosThis abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain
 CKDL::ChainFkSolverPos_recursiveImplementation 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::ChainFkSolverVelThis abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain
 CKDL::ChainFkSolverVel_recursiveImplementation 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::ChainIdSolverThis abstract class encapsulates the inverse dynamics solver for a KDL::Chain
 CKDL::ChainIdSolver_RNERecursive newton euler inverse dynamics solver
 CKDL::ChainIdSolver_VereshchaginDynamics calculations by constraints based on Vereshchagin 1989
 CKDL::ChainIkSolverAccThis abstract class encapsulates the inverse acceleration solver for a KDL::Chain
 CKDL::ChainIkSolverPosThis abstract class encapsulates the inverse position solver for a KDL::Chain
 CKDL::ChainIkSolverPos_LMASolver for the inverse position kinematics that uses Levenberg-Marquardt
 CKDL::ChainIkSolverPos_NRImplementation 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_JLImplementation 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::ChainIkSolverVelThis abstract class encapsulates the inverse velocity solver for a KDL::Chain
 CKDL::ChainIkSolverVel_pinvImplementation 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_givensImplementation 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_nsoImplementation 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_wdlsImplementation 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::ChainJntToJacDotSolverComputes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation
 CKDL::ChainJntToJacSolverClass to calculate the jacobian of a general KDL::Chain, it is used by other solvers
 CKDL::StiffnessPreliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided..
 CTraits< KDL::doubleVel >
 CKDL::TrajectoryAn abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile
 CKDL::Trajectory_CompositeTrajectory_Composite implements a trajectory that is composed of underlying trajectoria
 CKDL::Trajectory_SegmentTrajectory_Segment combines a VelocityProfile and a Path into a trajectory
 CKDL::Trajectory_StationaryImplements a "trajectory" of a stationary position for an amount of time
 CKDL::TreeThis class encapsulates a tree kinematic interconnection structure
 CKDL::TreeElement
 CKDL::TreeFkSolverPosThis abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree
 CKDL::TreeFkSolverPos_recursiveImplementation 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::TreeIkSolverPosThis abstract class encapsulates the inverse position solver for a KDL::Chain
 CKDL::TreeIkSolverPos_NR_JLImplementation 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_OnlineImplementation of a general inverse position kinematics algorithm to calculate the position transformation from Cartesian to joint space of a general KDL::Tree
 CKDL::TreeIkSolverVelThis abstract class encapsulates the inverse velocity solver for a KDL::Tree
 CKDL::TreeIkSolverVel_wdls
 CKDL::TreeJntToJacSolver
 CKDL::TwistBoth translational and rotational velocities
 CKDL::TwistAcc
 CKDL::TwistVel
 CKDL::VectorA concrete implementation of a 3 dimensional vector class
 CKDL::Vector22D version of Vector
 CKDL::VectorAcc
 CKDL::VectorVel
 CKDL::VelocityProfileA VelocityProfile stores the velocity profile that is used within a trajectory
 CKDL::VelocityProfile_DiracA Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time
 CKDL::VelocityProfile_RectangularA rectangular VelocityProfile generates a constant velocity for moving from A to B
 CKDL::VelocityProfile_SplineA spline VelocityProfile trajectory interpolation
 CKDL::VelocityProfile_TrapA Trapezoidal VelocityProfile implementation
 CKDL::VelocityProfile_TrapHalfA 'Half' Trapezoidal VelocityProfile
 CKDL::WrenchBoth translational and rotational acceleration