File List

Here is a list of all files with brief descriptions:

AbilitySet.h
BoundFunction.cpp
BoundFunction.h	Declaration file of the BoundFunction class
Buffer.h
CartesianTaskBuilder.cpp
CartesianTaskBuilder.h
CascadeQP.h	Declaration file of the CascadeQP class
CascadeQPSolver.cpp
CascadeQPSolver.h	Declaration file of the CascadeQPSolver class
CascadeQPStructures.h	Declaration file of the structures needed in CascadeQP
ClientCommunications.cpp
ClientCommunications.h
ClientManager.cpp
ClientManager.h	Module class for the controller Client
CmlQuadraticSolver.cpp
CmlQuadraticSolver.h	Declaration file of the CmlQuadraticSolver class
Composite.h	Utility classes and functions to implement the Composite design pattern
ComTaskBuilder.cpp
ComTaskBuilder.h
Constraint.cpp
Constraint.h	Declaration file of the Constraint class
ConstraintSet.h	Declaration file of the ConstraintSet class
ContactAvoidanceConstraint.cpp	Implement contact avoidance constraint for wOcra controller
ContactAvoidanceConstraint.h	Define contact avoidance constraint for wOcra controller
ContactSet.cpp
ContactSet.h	Factory classes and functions to build sets of contact frames
ControlConstraint.h	Define base class that can be used as constraints in wOcra controller
ControlEnum.h	Some enumerations for the control
ControlFrame.cpp
ControlFrame.h	Classes that represent frames
Controller.cpp
Controller.h	Controller interface
ControllerClient.cpp
ControllerClient.h
ControllerServer.cpp
ControllerServer.h
ControlThread.cpp	A class for launching generic control threads
ControlThread.h	A class for launching generic control threads
controlUtils.cpp
controlUtils.h	Control utility functions
CoupledInputOutputSize.h
DiagonalLinearFunction.cpp
DiagonalLinearFunction.h	Declaration file of the DiagonalLinearFunction class
DotProductFunction.cpp
DotProductFunction.h	Declaration file of the DotProductFunction class
DoubleDiagonalLinearFunction.cpp
DoubleDiagonalLinearFunction.h	Declaration file of the DoubleDiagonalLinearFunction class
DynamicEquationFunction.cpp
DynamicEquationFunction.h	Declaration file of the DynamicEquationFunction class
EigenUtilities.h
ErrorsHelper.h
ExperimentalTrajectory.cpp
ExperimentalTrajectory.h
FcQuadraticFunction.cpp
FcQuadraticFunction.h
Feature.cpp
Feature.h	A class hierarchy to compute task errors based on control frames
FileOperations.cpp
FileOperations.h	Some FileOperations function for debbuging purpose
FSQPConstraintManager.cpp
FSQPConstraintManager.h	Declaration file of the FSQPConstraintManager class
FSQPSolver.cpp
FSQPSolver.h	Declaration file of the FSQPSolver class
FullDynamicEquationFunction.cpp	Implement base class that can be used as constraints in wOcra controller
FullDynamicEquationFunction.h	Define base class that can be used as constraints in wOcra controller
FullPostureTaskBuilder.cpp
FullPostureTaskBuilder.h
FullState.cpp
FullState.h
Function.cpp
Function.h	Declaration file of the Function class
FunctionHelpers.h
FunctionInterfaceMapping.h	Declaration file of the FunctionInterfaceMapping struct
FunctionUtilities.cpp
FunctionUtilities.h	Declaration file of the FunctionProperties class
GaussianProcessTrajectory.cpp
GaussianProcessTrajectory.h
GHCJTController.cpp	Implement the quasi-static Generalized Hierarchical Control based on Jacobian Transpose (GHCJT)
GHCJTController.h	Define the Generalized Hierarchical Controller based on Jacobian transpose (GHCJT) in quasi-static case
GHCJTTask.cpp	Implement task class for GHCJT controller. It inherits from the task class defined in the ocra framework
GHCJTTask.h	Define task class for GHCJT controller. It inherits from the task class defined in the ocra framework
gOcraCoMTaskManager.cpp
gOcraCoMTaskManager.h
gOcraContactSetTaskManager.cpp
gOcraContactSetTaskManager.h
gOcraContactTaskManager.cpp
gOcraContactTaskManager.h
gOcraDebug.cpp	Implementation to get debugging information
gOcraDebug.h	Debug trace
gOcraFullPostureTaskManager.cpp
gOcraFullPostureTaskManager.h
gOcraPartialPostureTaskManager.cpp
gOcraPartialPostureTaskManager.h
gOcraSegCartesianTaskManager.cpp
gOcraSegCartesianTaskManager.h
gOcraSegOrientationTaskManager.cpp
gOcraSegOrientationTaskManager.h
gOcraSegPoseTaskManager.cpp
gOcraSegPoseTaskManager.h
gOcraTaskManagerBase.cpp
gOcraTaskManagerBase.h
gOcraTaskManagerCollectionBase.cpp
gOcraTaskManagerCollectionBase.h
HocraController.cpp
HocraController.h
IdentityFunction.cpp
IdentityFunction.h	Declaration file of the IdentityFunction class
IFunction.h	Declaration file of the IFunction interface
IFunctionProperties.cpp
IFunctionProperties.h
JointLimitConstraint.cpp	Implement joint limit constraint for wOcra controller
JointLimitConstraint.h	Define joint limit constraint for wOcra controller
LinearFunction.cpp
LinearFunction.h	Declaration file of the LinearFunction class
LinearInterpolationTrajectory.cpp
LinearInterpolationTrajectory.h
LinearizedCoulombFunction.cpp
LinearizedCoulombFunction.h	Declaration file of the LinearizedCoulombFunction class
LinearTask.cpp
LinearTask.h	Declaration file of the LinearTask class
Macros.h
main.cpp
MathTypes.h	Declaration file of the OptimizationVariable class
MergedVariable.cpp
MergedVariable.h
MessageVocabulary.h
MinimumJerkTrajectory.cpp
MinimumJerkTrajectory.h
Model.cpp
Model.h	Declaration file of the Model class
Model3T.cpp
Model3T.h
ModelContacts.cpp
ModelContacts.h	Declaration file of the ModelContacts class
NamedInstance.cpp
NamedInstance.h
NewtonSolver.cpp
NewtonSolver.h	Declaration file of the NewtonSolver class
Objective.h	Declaration file of the Objective class
ObjQLD.cpp
ObjQLD.h	Declaration file of the ObjQLD class. This class should be merged with ocra::ObjQLD. It has been created to have a cml-free solver
ObserverSubject.h	Declaration file of the Observer, Subject and ObserverSubject classes
ObserverSubjectBase.h	Declaration file of the Observer and Subject base classes
ocra_assert.h
ocra_events.h
OFSQP.cpp
OFSQP.h
OneLevelSolver.cpp
OneLevelSolver.h	Define the internal solver class that can be used in the wOcra controller
OrientationTaskBuilder.cpp
OrientationTaskBuilder.h
OrthonormalFamily.cpp	Orthonormal Family computation for Generalized Hierarchical Control (GHC)
OrthonormalFamily.h
PartialPostureTaskBuilder.cpp
PartialPostureTaskBuilder.h
PartialState.cpp	Implement partial state classes that can be used to control some joints of the robot
PartialState.h	Define partial state classes that can be used to control some joints of the robot
wocra/include/wocra/Performances.h
gocra/include/gocra/Performances.h
PointContactTaskBuilder.cpp
PointContactTaskBuilder.h
PoseTaskBuilder.cpp
PoseTaskBuilder.h
QLDSolver.cpp
QLDSolver.h	Declaration file of the QLDSolver class
QuadProg++.cpp
QuadProg++.h
QuadraticFunction.cpp
QuadraticFunction.h	Declaration file of the QuadraticFunction class
QuadraticSolver.cpp
QuadraticSolver.h	Declaration file of the QuadraticSolver class
RobotState.cpp
RobotState.h
RowFunction.cpp
RowFunction.h	Declaration file of the RowFunction class
SecondOrderLinearTask.cpp
SecondOrderLinearTask.h	Declaration file of the SecondOrderLinearTask class
ServerCommunications.cpp
ServerCommunications.h
Solver.cpp
Solver.h	Declaration file of the Solver class
SolverUtilities.cpp
SolverUtilities.h
SolverUtilities.hxx
SquaredLinearFunction.cpp
SquaredLinearFunction.h	Declaration file of the SquaredLinearFunction class
StringUtilities.h
SubtractionFunction.cpp
SubtractionFunction.h	Declaration file of the SubtractionFunction class
SumOfLinearFunctions.cpp
SumOfLinearFunctions.h
Task.cpp
Task.h
TaskBuilder.cpp
TaskBuilder.h
TaskBuilderOptions.cpp
TaskBuilderOptions.h
TaskConnection.cpp
TaskConnection.h
TaskConstructionManager.cpp
TaskConstructionManager.h
TaskState.cpp
TaskState.h
TaskYarpInterface.cpp
TaskYarpInterface.h
TaskYarpInterfaceVocab.cpp
TaskYarpInterfaceVocab.h
TestFunction.cpp
TestFunction.h	A set of tutorial/test for the Function class
TimeOptimalTrajectory.cpp
TimeOptimalTrajectory.h
TorqueLimitConstraint.cpp	Implement torque limit constraint for wOcra controller
TorqueLimitConstraint.h	Define torque limit constraint for wOcra controller
Trajectories.h
Trajectory.cpp
Trajectory.h
TrajectoryThread.cpp	A thread for launching trajectory generators
TrajectoryThread.h	A thread for launching trajectory generators
uncompress.h
utilities.cpp
Variable.cpp
Variable.h	Declaration file of the Variable class
VariableChiFunction.cpp
VariableChiFunction.h
VariableMapping.cpp
VariableMapping.h	Declaration file of the VariableMapping class
WeightedSquareDistanceFunction.cpp
WeightedSquareDistanceFunction.h	Declaration file of the WeightedSquareDistanceFunction class
WocraController.cpp	Implement the LQP-based controller developped during my PhD thesis with ocra framework
WocraController.h	Define the LQP-based controller developped during my PhD thesis with ocra framework
WocraDebug.cpp	Implementation to get debugging information
WocraDebug.h	Debug trace
XmlUtilities.h
YarpUtilities.h