Namespaces
	details

	force

	lipm_stabilizer

Classes
struct	AddRemoveContactTask
	Add or remove a contact. More...

struct	AddContactTask
	Add a contact. More...

struct	RemoveContactTask
	Remove a contact. More...

struct	BSplineTrajectoryTask
	Track a bezier curve with a robot surface. More...

struct	CoMTask
	Control a robot's CoM. More...

struct	EndEffectorTask
	Controls an end-effector. More...

struct	ExactCubicTrajectoryTask
	Track an exact cubic spline, that is a curve passing exactly through waypoints in position, with optional initial and final velocity and acceleration. More...

struct	GazeTask
	Control the Gaze of a body. More...

struct	LookAtFrameTask
	Track a frame position with a "gaze" vector. This task is a convenience wrapper for LookAtTask that takes care of automatically updating the gaze target. More...

struct	LookAtTask
	Orient a "gaze" vector defined on a body to look towards a world position. This task is a convenience wrapper around VectorOrientationTask. More...

struct	MetaTask
	Represents a generic task. More...

struct	MetaTaskLoader

struct	MomentumTask
	Control the momentum of a robot. More...

struct	OrientationTask
	Control the orientation of a frame. More...

struct	PositionBasedVisServoTask
	Servo an end-effector depending on position error in camera frame. More...

struct	PositionTask
	Control the position of a frame. More...

struct	PostureTask

struct	RelativeEndEffectorTask
	Controls an end-effector relatively to another frame. More...

struct	SmoothTask
	SmoothTask allows to smoothly reach a final weight and objective for a given task. More...

struct	SplineTrajectoryTask
	Generic CRTP implementation for a task tracking a curve in both position and orientation. This class takes care of much of the logic behind tracking a curve: More...

struct	TrajectoryTaskGeneric
	Generic wrapper for a trajectory dynamic over an error function. More...

struct	TransformTask
	Control a frame 6D pose. More...

struct	VectorOrientationTask
	Control the orientation of a vector attached to a frame. More...

struct	LookAtTFTask
	Control the gaze vector of a body to look towards a world position updated at each iteration from a ROS TF Frame. More...

Typedefs
using	LookAtSurfaceTask = LookAtFrameTask

using	MetaTaskPtr = std::shared_ptr< MetaTask >

using	PostureTaskPtr = std::shared_ptr< PostureTask >

using	SurfaceTransformTask = TransformTask