Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 123]

arl::math::Admittance	Integrates the dynamical system for admittance control
arl::math::Clik	Calculates joint velocities given desired task velocities by implementing Closed Loop Inverse Kinematics
arl::robot::Controller	An abstract class which implements a robot controller
arl::bhand::controller::JointAdmittance	Implements a Joint Admittance Controller for BarrettHand
arl::controller::CartesianAdmittance	Implements a Cartesian Admittance Controller assuming the existance of an F/T Sensor
arl::controller::CartesianImpedance	Implements a Cartesian Impedance Controller, assuming that the robot supports this mode
arl::controller::Clik	Implements a Closed Inversed Kinematics Controller for sending Task Velocities
arl::controller::GravityCompensation	Implements a gravity compensation controller
arl::controller::JointTrajectory	Implements a Joint Trajectory controller
arl::mujoco::Viz	A robot controller in mujoco which provides visualization tools
arl::robot::ArmHandController
arl::viz::RosStatePublisher	A class which implements a controller for robot visualization in RViz
arl::robot::State::Joint
arl::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
arl::io::Logger	Helper class providing logging capabilities. Useful in control loops for logging data and easily parsing to Matlab
arl::robot::Model	Defines an abstract model for a robot storing information like DOFs, kinematics etc
arl::bhand::Model
arl::mujoco::Model	Class representing a Robot Model in MuJoCo
arl::mujoco::LwrBhandModel	Class representing a KUKA LWR Robot with a BarrettHand attached to it in MuJoCo
arl::mujoco::LwrModel	Class representing a KUKA LWR Robot Model in MuJoCo
lwr::robot::Model
lwr::robot::ModelExtended
arl::math::Mvn	Represents a Multivariate Normal Distribution. It provides functionalities like getting its PDF or generating random vectors from this distribution
arl::math::Pose	Represents a pose in 3D space, i.e. a point of the SE(3) space
arl::robot::Robot	An abstract class that implements a robot
arl::bhand::Robot
arl::mujoco::Robot	Class representing a Robot in MuJoCo
arl::robot::RobotSim	A simulated robot implementing the API for kinematics
lwr::robot::Robot
RvizVisualTools
arl::viz::RVisualizer	This class implements visualization functionalities for RViz
arl::robot::Sensor	An abstract class that implements a robot sensor
ati::sensor::Sensor
arl::robot::State
arl::robot::State::System
arl::robot::State::Task
arl::utils::Timer	Provides timing capabilities, like measure the time elapsed since the last call (e.g. useful in a control loop)
arl::primitive::Trajectory< T >	Represent a simple fifth order polynomial trajectory. Its a templated class that can be used with multiple types
arl::primitive::Trajectory< arma::vec >