Class Hierarchy

Go to the graphical class hierarchy

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

[detail level 123]

Cfsb::Body	Link body parameters
Cfsb::BodyCartesianPva	Container of Cartesian pose, velocity, and acceleration for a list of bodies
Cfsb::BodyForce	Container of Forces and Torques for a list of bodies
Cfsb::BodyTree	Body tree description of a kinematic chain
Cfsb::CartesianPva	Cartesian pose, velocity and acceleration
Cfsb::ComputeKinematics	Compute forward kinematics
Cfsb::ForceVector	Force and torque vector
Cfsb::Hessian	Hessian tensor
Cfsb::IncrementalEncoder	Incremental encoder
Cfsb::Inertia	Inertia tensor
Cfsb::InverseKinematicsResult
Cfsb::Jacobian	Jacobian matrix
Cfsb::Joint	Joint definition structure
Cfsb::JointLimits	Limits for joint vectors
Cfsb::JointMatrix	Square matrix of size nxn for n joints
Cfsb::JointPva
Cfsb::JointSpace	Joint space differential of generalized coordinates
Cfsb::JointSpacePosition	Joint space position in generalized coordinates
Cfsb::MassProps	Mass properties of a body
Cfsb::Mat3	3x3 matrix, column-major
Cfsb::Mat3Sym	3x3 symmetric matrix
Cfsb::MaxSize	Max sizes configured for static memory allocation
Cfsb::MotionVector	Motion vector
Cfsb::urdf::NameMap	Name map relating names to object indices
Cfsb::OptimParameters
Cfsb::PeriodicTimer	Compute forward kinematics
Cfsb::PidController	PID Controller
Cfsb::PrincipalInertia	Principal inertia of body
Cfsb::Quaternion	Unit quaternion
Cfsb::QuinticCoeffs	Coefficients of a quintic polynomial
▼Cfsb::SegmentBase	Abstract class for segments
▼Cfsb::Segment	Abstract class for scalar motion
Cfsb::QuinticTrajectory	Quintic trajectory
Cfsb::SegmentConstAcc	Constant acceleration profile
Cfsb::SegmentConstJerk	Constant jerk profile
Cfsb::SegmentConstVel	Constant velocity profile
Cfsb::TrapezoidalVelocity
Cfsb::Segment3	Abstract class for motion in x, y, and z coordinates
Cfsb::Segment6	Abstract class for motion in Cartesian coordinates
Cfsb::Timescale	Timescale trajectory with trapezoidal velocity profile
Cfsb::TrajState	Trajectory scalar motion state
Cfsb::TrajState3	Trajectory vector motion state
Cfsb::Transform	Coordinate transform
Cfsb::TrapezoidalConstraints	Constraints for a trapezoidal profile
Cfsb::TrapezoidalDuration	Duration of different phases in a trapezoidal profile
Cfsb::urdf::UrdfError	Urdf parsing error
Cfsb::urdf::UrdfJoint	Structure representing a URDF joint
Cfsb::urdf::UrdfJointLimits
Cfsb::urdf::UrdfNameMap	Name-index map of joints and bodies in rigid body tree
Cfsb::Vec3	3D vector