Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 1234]

arl	The namespace having all the AUTh-ARL codebase
bhand
controller
JointAdmittance	Implements a Joint Admittance Controller for BarrettHand
Model
Robot
controller	Contains code related to robot controllers
CartesianAdmittance	Implements a Cartesian Admittance Controller assuming the existance of an F/T Sensor
CartesianImpedance	Implements a Cartesian Impedance Controller, assuming that the robot supports this mode
Clik	Implements a Closed Inversed Kinematics Controller for sending Task Velocities
GravityCompensation	Implements a gravity compensation controller
JointTrajectory	Implements a Joint Trajectory controller
io
Logger	Helper class providing logging capabilities. Useful in control loops for logging data and easily parsing to Matlab
math	The namespace having code related to math calculations and tools
filter
Admittance	Integrates the dynamical system for admittance control
Pose	Represents a pose in 3D space, i.e. a point of the SE(3) space
Clik	Calculates joint velocities given desired task velocities by implementing Closed Loop Inverse Kinematics
Mvn	Represents a Multivariate Normal Distribution. It provides functionalities like getting its PDF or generating random vectors from this distribution
mujoco	Codebase for using the MuJoCo Physics Engine
LwrBhandModel	Class representing a KUKA LWR Robot with a BarrettHand attached to it in MuJoCo
LwrModel	Class representing a KUKA LWR Robot Model in MuJoCo
Model	Class representing a Robot Model in MuJoCo
Robot	Class representing a Robot in MuJoCo
Viz	A robot controller in mujoco which provides visualization tools
primitive
JointTrajectory	Stores a Robot Joint Trajectory, providing interfaces with Armadillo or ROS msgs. You can provide the class with several points and it will interpolate returning position, velocity, acceleration in any given time
Trajectory	Represent a simple fifth order polynomial trajectory. Its a templated class that can be used with multiple types
robot	The namespace having code related to a robot, robot control etc
trajectory	Contains functions for generating trajectories
ArmHandController
Controller	An abstract class which implements a robot controller
Model	Defines an abstract model for a robot storing information like DOFs, kinematics etc
Robot	An abstract class that implements a robot
RobotSim	A simulated robot implementing the API for kinematics
Sensor	An abstract class that implements a robot sensor
State
Joint
System
Task
utils	The namespace having miscellaneous code which does not have a specific category
Timer	Provides timing capabilities, like measure the time elapsed since the last call (e.g. useful in a control loop)
viz	The namespace having code relating to visualization tools
RosStatePublisher	A class which implements a controller for robot visualization in RViz
RVisualizer	This class implements visualization functionalities for RViz
ati
sensor
Sensor
convert-tactile-to-urdf
Eigen
lwr
robot
Model
ModelExtended
Robot