| ▼NstateObservation | |
| ▼Nalgorithm | |
| CLinearAcceleration | Implements the measurements given by an accelerometer |
| CMagneticField | Implements the measurements given by an magnetometer |
| CRotationVelocity | Implements the gyrometer measurement algorithm |
| ▼Ndetail | |
| CDebugItemDefaultError | |
| CDebugItemDefaultError< exception, dummy > | |
| CDebugItemDefaultError< exceptionAddr, dummy > | |
| CDebugItemDefaultError< message, dummy > | |
| ▼NflexibilityEstimation | |
| CEKFFlexibilityEstimatorBase | This class is the base class of the flexibility estimators that use an extended Kalman Filter. Several methods require to be overloaded to derive an implementation from this base class |
| CFixedContactEKFFlexEstimatorIMU | This class implements the flexibility estimation of a robot with the hypothesis that the contact positions do not move. This constraint is expressed using fictious measurements but the interface is transparent to this assumption, the state is expressed using classical representation of position, velocity, acceleration, orientation (using (theta x mu) representation) angular velocity (omega) and acceleration (omega dot) |
| CFlexibilityEstimatorBase | This class is the base class of the flexibility estimators |
| ▼CIMUElasticLocalFrameDynamicalSystem | This class describes the dynamics of a robot's flexibility this dynamics with elastic forces to bring the contacts at their position in the environment |
| CcontactModel | |
| Cinput | |
| COptimization | |
| Cstate | |
| CIMUFixedContactDynamicalSystem | This class describes the dynamics of a robot's flexibility this dynamics is the simplest possible system, the flexibility is expressed as a rotation against the contact positions with no other hypothesis than that the contact points are at constant position |
| ▼CModelBaseEKFFlexEstimatorIMU | This class implements the flexibility estimation of a robot with the hypothesis that the contact positions do not move. This constraint is expressed using fictious measurements but the interface is transparent to this assumption, the state is expressed using classical representation of position, velocity, acceleration, orientation (using (theta x mu) representation) angular velocity (omega) and acceleration (omega dot) |
| CcontactModel | |
| Coptimization | |
| CStableIMUFixedContactDynamicalSystem | This class describes the dynamics of a robot's flexibility this dynamics is the simplest possible system, the flexibility is expressed as a rotation against the contact positions with no other hypothesis than that the contact points are at constant position |
| ▼Nhrp2 | |
| Ccontact | |
| ▼Nkine | |
| ▼Ninternal | |
| ▼CKinematicsInternal | |
| CFlags | |
| Cindexes | |
| Cindexes< quaternion > | |
| Cindexes< rotationVector > | |
| CKinematics | Class facilitating the manipulation of the kinematics of a frame within another and the associated operations |
| CLocalKinematics | Class facilitating the manipulation of the local kinematics of a frame within another and the associated operations |
| COrientation | |
| ▼Ntools | |
| ▼CLogger | |
| Clog_s | |
| CProbabilityLawSimulation | |
| CSimplestStopwatch | |
| CAccelerometerGyrometer | Implements the accelerometer-gyrometer measurements |
| CAccelerometerGyrometerMagnetometer | Implements the accelerometer-gyrometer-magnetometer measurements |
| CAlgebraicSensor | The base class for algebraic sensors. Algebraic sensors are sensors which depend only on the state value and the current time and do not have internal dynamics (or a dynamics which converges fast enough to be ignored). This class implements mostly the containers and the interface to algebraic sensors. Algebraic sensors must be derived from this class |
| CBidimElasticInvPendulum | The class is an implementation of the dynamical system defined by a 2D inverted pendulum with an elastic joint. The input is the horizontal acceleration |
| CCheckedItem | This is a structure allowing for automatically verifying that the item has been initialized or not. The chckitm_reset() function allows to set it back to "not initialized" state |
| CCheckNaN | Additional checker that allows to check for the presence of NaN values in the item |
| CDebugItem | |
| CDebugItem< T, defaultValue, false > | This specialization contains no object |
| CDebugItemDefaultValue | |
| CDynamicalSystemFunctorBase | This is the base class of any functor that describes the dynamics of the state and the measurement. This class is to be derived in order to be given to the Extended Kalman Filter |
| CDynamicalSystemSimulator | The class gives a small encapsulation of the dynamics functor, which enables the simulation of the dynamics and the storage of states, inputs and measurements |
| CEigenType | |
| CEmptyChecker | This structure is used as an additionalChecker for a CheckedItem that doesn't require additional tests |
| ▼CExtendedKalmanFilter | |
| COptimization | |
| CFixOrDynMatrixTools | |
| CFixOrDynMatrixToolsBySize | |
| CFixOrDynMatrixToolsBySize< compileTimeRows, -1 > | |
| CFixOrDynMatrixToolsBySize<-1, -1 > | |
| CFixOrDynMatrixToolsBySize<-1, compileTimeCols > | |
| CGaussianWhiteNoise | The class derivates the NoiseBase class to implement a gaussian white noise with a given covariance matrix, and bias |
| ▼CIMUDynamicalSystem | The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientaion and rotation velocity and acceleration. The sensors are the accelerometer and the gyrometer |
| Cindexes | |
| CIMUMagnetometerDynamicalSystem | The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientation and rotation velocity and acceleration. The sensors are the accelerometer, the gyrometer and the magnetometer |
| ▼CIMUMltpctiveDynamicalSystem | The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientaion and rotation velocity and acceleration. The sensors are the accelerometer and the gyrometer |
| Copt | |
| CIndexedMatrixArrayT | This class describes a structure that enables to store array of matrices with time indexation |
| CIndexedMatrixT | This class describes a structure composed by a matrix of a given size and a time-index parameter. It can tell also if it is initialized or not |
| CisEigen | Checks if it is derived from EigenBase (the base class of all dense functions) |
| CisMatrix | Checks if a class is a specialization of Eigen::Matrix |
| CisMatrix< Eigen::Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols > > | |
| ▼CKalmanFilterBase | It mostly implements the equations of Kalman filtering It is suitablle by derivation to be used incases of Linear, linearized and extended Kalman filtering. It may be derived to unscented Kalman filtering, but non-straighforwardly because the state vector is modified. This class requires to be derived to overload the update routine and the measurements simulation routine |
| CoptimizationContainer | |
| ▼CKineticsObserver | This observer estimates the kinematics, the external forces, the bias on the gyrometers measurements, and the contacts forces and pose |
| CAbsoluteOriSensor | |
| CAbsolutePoseSensor | |
| CContact | |
| CIMU | |
| COpt | Structure to optimize computations |
| CSensor | |
| CLinearKalmanFilter | The class of a Linear Kalman filter |
| CLipmDcmEstimator | Filtering of divergent component of motion (DCM) and estimation of a bias betweeen the DCM and the corresponding zero moment point for a linearized inverted pendulum model |
| CMatrixType | |
| CNoiseBase | |
| CObserverBase | The base class for observers. The observer is destinated to any dynamical system with a vector state representation. This class mostly defined an abstract interface, static constants and types. It is templated by: |
| CSensorBase | The base class for sensors. This must be derived to implement a sensor |
| CStateVectorArithmetics | This class is used to customize the way the difference between measurements, the state update function and the differentiation are performed. default is the usual natual arithmetics. overload any ohter one |
| CTiltEstimator | Description is pending |
| CTiltEstimatorHumanoid | Version of the Tilt Estimator for humanoid robots |
| CUnidimLipmDcmEstimator | 1D version of the estimation of a bias betweeen the divergent component of motion and the corresponding zero moment point for a linearized inverted pendulum model |
| CZeroDelayObserver | Defines the base class of online zero delay observers. Zero delay observers are the classical state observers where input and state values at instant k and the measurement value at instant k+1 are enough to provide the estimation of the state at instant k+1. This class mostly defines the data structures for storing the vectors, it describes the set routines and the observation loop mechanism. It requires to be derviated to implement the new oneStepEstimation_() method |
| CZmpTrackingGainEstimator | |
| Corder1 | Tobedone |
1.8.17