ControlFrame.h File Reference

Classes that represent frames. More...

#include "ocra/optim/NamedInstance.h"
#include <ocra/util/MathTypes.h>
#include <ocra/util/Macros.h>
#include "Eigen/Lgsm"
#include <boost/shared_ptr.hpp>
#include <boost/noncopyable.hpp>
#include <yarp/os/Semaphore.h>

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Classes
class	ocra::ControlFrame
	Generic representation of a frame: gives access to its position, velocity, jacobian... More...
class	ocra::TargetFrame
	Represents a 'target', i.e. something that does not depend on a model but must match with another frame. More...
class	ocra::SegmentFrame
	A frame attached to a segment of a model. More...
class	ocra::CoMFrame
	Creates a frame whose center is at the CoM of the model and whose axes are parallel to the axes of the world frame. More...

Namespaces
	ocra
	Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.

Detailed Description

Classes that represent frames.

Copyright (C) 2010 CEA/DRT/LIST/DTSI/SRCI

Author

Evrard Paul

Escande Adrien

Date

2010/10/03

File history:

Definition in file ControlFrame.h.