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screw-theory-solvers
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The main, catch-all namespace for RoboticsLab UC3M.
Namespaces | |
| namespace | test |
| Contains classes related to unit testing. | |
Classes | |
| class | Algebraic_UR |
| Algebraic approach. More... | |
| class | ConfigurationSelector |
| Abstract base class for a robot configuration strategy selector. More... | |
| class | ConfigurationSelectorFactory |
| Base factory class for ConfigurationSelector. More... | |
| class | ConfigurationSelectorHumanoidGait |
| IK solver configuration strategy selector based on human walking. More... | |
| class | ConfigurationSelectorHumanoidGaitFactory |
| Implementation factory class for ConfigurationSelectorHumanoidGait. More... | |
| class | ConfigurationSelectorLeastOverallAngularDisplacement |
| IK solver configuration strategy selector based on the overall displacement of all joints. More... | |
| class | ConfigurationSelectorLeastOverallAngularDisplacementFactory |
| Implementation factory class for ConfigurationSelectorLeastOverallAngularDisplacement. More... | |
| class | MatrixExponential |
| Abstraction of a term in a product of exponentials (POE) formula. More... | |
| class | PadenKahanOne |
| First Paden-Kahan subproblem. More... | |
| class | PadenKahanThree |
| Third Paden-Kahan subproblem. More... | |
| class | PadenKahanTwo |
| Second Paden-Kahan subproblem. More... | |
| class | PardosGotorEight |
| Eighth Pardos-Gotor subproblem. More... | |
| class | PardosGotorFive |
| Fifth Pardos-Gotor subproblem. More... | |
| class | PardosGotorFour |
| Fourth Pardos-Gotor subproblem. More... | |
| class | PardosGotorOne |
| First Pardos-Gotor subproblem. More... | |
| class | PardosGotorSeven |
| Seventh Pardos-Gotor subproblem. More... | |
| class | PardosGotorSix |
| Sixth Pardos-Gotor subproblem. More... | |
| class | PardosGotorThree |
| Third Pardos-Gotor subproblem. More... | |
| class | PardosGotorThreePadenKahanOne |
| Third Pardos-Gotor and First Paden Kahan subproblems. More... | |
| class | PardosGotorTwo |
| Second Pardos-Gotor subproblem. More... | |
| class | PoeExpression |
| Abstraction of a product of exponentials (POE) formula. More... | |
| class | ScrewTheoryIkProblem |
| Proxy IK problem solver class that iterates over a sequence of subproblems. More... | |
| class | ScrewTheoryIkProblemBuilder |
| Automated IK solution finder. More... | |
| class | ScrewTheoryIkSubproblem |
| Interface shared by all IK subproblems found in Screw Theory applied to Robotics. More... | |
Functions | |
| KDL::Rotation | vectorPow2 (const KDL::Vector &v) |
| Multiply a vector by itself to obtain a square matrix. | |
| double | normalizeAngle (double angle) |
| Clip an angle value between certain bounds. | |
1.9.8