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Class List

Here are the classes, structs, unions and interfaces with brief descriptions:
DualCoding::Pilot::PushObjectMachine::AddAcquirePt
DualCoding::Pilot::PushObjectMachine::AddBackupPt
ConfigurationEditor::AddCollectionEntryDisplays a list of template objects (see ConfigurationEditor::getObjectTemplates()) which can be added to a target collection
DualCoding::Pilot::ExecutePlan::AdjustHeadingPerform an adjusting turn if we localized successfully, or a collision occurred
DualCoding::Pilot::PushObjectMachine::AdjustPush
AdmissibilityPredicate< NODE >Base class for admissibility predicates to determine whether a node is admissible
Aibo3DControllerBehaviorListens to aibo3d control commands coming in from the command port
plist::AngleHandles angle measurements by adding a 'unit' attribute to numeric values, or a character suffix in a string value. */
AngPiCircular arithmetic on angles between 0 and pi (180 degrees)
AngSignPiCircular arithmetic on angles between -pi and pi (360 degrees)
AngSignTwoPiTurn with an explicit direction: angles between -2*pi and 2*pi (+/- 360 degrees)
AngTwoPiCircular arithmetic on angles between 0 and two pi (360 degrees)
argb
argbf
ArmControllerListens to control commands coming in from the command port for remotely controlling the arm
Grasper::ArmGraspClose fingers to grasp the object
ArmMC
ArmNodeA simple StateNode that executes a ArmMC motion command
Grasper::ArmNudgeMove the object to test that it was grasped successfully
ArmPower
Grasper::ArmPulseSet or clear gripper pulsing to prevent load errors
Grasper::ArmRaiseRaise the object for transport
plist::ArrayBaseMaintains an array of value, see ArrayOf, and the Array typedef
plist::ArrayOf< PO, Alloc >A collection of plist objects, similar to a Dictionary, but no keys -- order matters!, see plist::Array
plist::AutoCollectionListenerMonitors a collection to keep tabs on all its entries, so PrimitiveListener::plistValueChanged will be called if any entry is changed
Profiler::AutoInitAutomatically causes initialization of the histogram buckets when the first Profiler is instantiated
XMLLoadSave::AutoInitAllows automatic (de)initialization of libxml when the first or last XMLLoadSave class is created or destroyed
plist::AutoPrimitiveListenerAuto subscribe/unsubscribe from a Primitive
axisVarPair
KoduInterpreter::GiveActionRunner::Backup
XMLLoadSave::bad_formatException to be thrown when a bad XML file is parsed, allows file position information to be passed to the user
plist::OutputSelector::bad_value
BallDetectionGeneratorUses segmented color region information to detect round objects
basic_inetstream< charT, traits >
basic_ionetstream< charT, traits >
basic_netbuf< charT, traits >
basic_netbuf_interface< charT, traits >
basic_onetstream< charT, traits >
basic_streambuf
BatteryCheckControlWhen activated, this will print a battery report to stdout and light up LEDs to specify power level
BatteryMonitorBehaviorA background behavior that monitors the power level and has the robot indicate when its battery is getting low
DualCoding::Pilot::BearingLessThanFunctor used to sort gaze points by their relative bearing from the robot
BehaviorActivatorControlUpon activation, will start, stop, or toggle a behavior
BehaviorBaseThe basis from which all other Behaviors should inherit
BehaviorSwitchControlBase::BehaviorGroupA simple utility class to allow the BehaviorSwitchControl's to be able to deactivate the current behavior when a new one becomes active
Config::behaviors_configPlace for users to put their own configuration
BehaviorSwitchControl< B, Al >Allows proper switching between major behaviors, calling doStart and doStop
BehaviorSwitchControlBaseHolds some utility classes and functions for BehaviorSwitchControl which shouldn't be stored in a templated class
binary_function
BoundingBox< N, T >Bounding box of a shape; used for coordinate calculations
BoxObstacle
KinematicJoint::BranchListener
BufferBuffer
BufferedImageGeneratorReceives camera frames as they are loaded by the simulator -- or eventually other sources
CMPackWalkMC::CalibrationParamHolds information to correct for slippage, non-idealities
CallbackPollThread
CallbackThreadA simple adapter to cause a callback under a new thread
Calliope2SPInfo::Calliope2SPCapabilitiesPolymorphic robot capability detection/mapping
Calliope3Info::Calliope3Capabilities
Calliope5KPInfo::Calliope5KPCapabilitiesPolymorphic robot capability detection/mapping
Calliope5SPInfo::Calliope5SPCapabilitiesPolymorphic robot capability detection/mapping
CalliopeInfo::CalliopeCapabilitiesPolymorphic robot capability detection/mapping
CalliopeLPInfo::CalliopeLPCapabilitiesPolymorphic robot capability detection/mapping
CalliopeSPInfo::CalliopeSPCapabilitiesPolymorphic robot capability detection/mapping
CalliopeUInfo::CalliopeUCapabilitiesPolymorphic robot capability detection/mapping
CameraBehaviorWill take images and write to log file
CameraCalibrationBehaviorA behavior to calibrate the camera using the robots own LEDs as reference
CameraData
CameraShapeEvaluator
CameraStreamBehaviorBase class for camera streaming communication classes, handles upstream communication
Thread::cancellation_exceptionThis is thrown by testCancel() on systems where pthread_testcancel() doesn't do what we want
Capabilities
RobotInfo::CapabilitiesAllows behaviors to lookup output/button/sensor names from other models to support basic cross-model portability
CBracketGrasperPredicate< N >
CDTGeneratorGenerates SegmentedColorFilterBankEvents with images provided from the system
AprilTags::Gridder< T >::Cell
CharPtrKey
DualCoding::Pilot::VisualSearchMachine::Check
Grasper::Verify::CheckAprilTag
Grasper::Verify::CheckCross
Grasper::Verify::CheckDomino
DualCoding::Pilot::LocalizationUtility::CheckEnoughLandmarks
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CheckForValidTarget
Grasper::Verify::CheckGripperLoad
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::CheckMotionType
DualCoding::Pilot::PushObjectMachine::CheckObjectPos
DualCoding::Pilot::GoToShapeMachine::CheckParametersCheck that the request's goToShape parameters are valid
DualCoding::Pilot::PushObjectMachine::CheckParameters
Grasper::Verify::CheckUserVerify
Chiara2Info::ChiaraCapabilitiesPolymorphic robot capability detection/mapping
ChiaraInfo::ChiaraCapabilitiesPolymorphic robot capability detection/mapping
DualCoding::Pilot::LocalizationUtility::ChooseGazePoints
DualCoding::Pilot::PushObjectMachine::ChoosePathInitToObj
DualCoding::Pilot::PushObjectMachine::ChoosePathObjToDest
CircularObstacleCircle/Sphere defined obstacle designated by a center point and a radius
DualCoding::Pilot::ClearOldPath
Kodu::ClearSelfShape
CloneableAn interface for cloning objects -- needed for making copies with polymorphism (operator= doesn't work as virtual)
Grasper::CloseTheGripperClose the gripper
CMPackWalkMCA nice walking class from Carnegie Mellon University's 2001 Robosoccer team, modified to fit this framework, see their license
plist::Collection
plist::CollectionCallbackMember< O >Produces a callback on a member function when a value in the collection changes
plist::CollectionListenerIf you wish to be notified any time an entry is added, removed, or replaced from a Dictionary, Array, or Vector, inherit from this and implement one or both of the functions, then register it with the collection's addCollectionListener()
DualCoding::Pilot::CollisionCheckerCollision checker service; its behavior is model-dependent
RRTNode2DR< N >::CollisionChecker
RRTNode3DR< N >::CollisionChecker
RRTNodeXYTheta::CollisionChecker
RRTNodeXY::CollisionCheckerCollision checker to be called by RRT search algorithm
DualCoding::Pilot::CollisionDispatchUsed by Pilot walk machines to decide how to respond to a collision
CMVision::color_class_state
fmat::Column< N, R >
MotionManager::CommandEntryAll the information we need to maintain about a MotionCommand
CompareTrans< T >Causes a transition if a value (through a pointer) goes above a given value
fmat::fmat_internal::CompileTimeAssert< MSG, true >
KoduInterpreter::CompleteSayActuator
CompletionTransCauses a transition when at least n sources have signalled completion; n = 0 means "all" (default)
PhysicsBody::ComponentListenerThis object subscribes to a LinkComponent (usually the root KinematicJoint of a chain) and creates a corresponding PhysicsBodies for it and its children
KinematicJoint::ComponentsListener
Thread::ConditionProvides an inter-thread signaling and synchronization mechanism
IKSolver::ConeCone allows 1-2 freedoms (roll, trade off pitch vs. yaw)
ConfigRoot configuration object, provides some global functionality like porting pathnames (portPath())
ConfigDictionarySubclass of plist::Dictionary which adds support for filtering settings by robot model, each configuration section is based on this
ConfigurationEditorProvides interactive editing and loading/saving of a plist::Collection
ConnectionMadeTransTransition that occurs as soon as a connection is made
ConstraintInterface
DualCoding::Pilot::ConstructNavPlanConstruct a navigation plan: mixture of traveling, turning, and localizing steps
DriverMessaging::ContactPoint
ControlBaseBase class for all items in the Controller hierarchy
ControllerHandles the menu/command system... when it detects the EmergencyStopMC is activated, it'll kick into high priority
Config::controller_configController information
KinematicJoint::ControllerInfoParameters for joint motion model, used for simulation
plist::ObjectBase::conversion_policy< U, V >That collections (e.g. plist::Array or plist::Dictionary) of these abstract base classes (ObjectBase, PrimitiveBase) can convert any primitive type to a plist::Primitive wrapper
plist::Collection::conversion_policy< U, V >Specifies that a collection of collections cannot contain any primitive values
plist::Primitive< T >::conversion_policy< U, V >
plist::NamedEnumeration< T >::conversion_policy< U, V >
plist::DictionaryBase::ConversionTo< PO >This conversion policy accepts entries of the specified template type, and will try to create new instances of that type constructed from any values which are passed
plist::ArrayBase::ConversionTo< PO >This conversion policy accepts entries of the specified template type, and will try to create new instances of that type constructed from any values which are passed
plist::DictionaryBase::ConversionTo< plist::Primitive< double > >This is a specialization for double conversions to add RealConversions
plist::DictionaryBase::ConversionTo< plist::Primitive< float > >This is a specialization for float conversions to add RealConversions
ConvexPolyObstacleManages collision detection with convex polygons
AStar::Node< State >::CostCmpSearch nodes should be sorted based on total cost (total)
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CreateFinalApproachCommand
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::CreateGripMonTask
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::LocalizeAgent::CreateLocalizeTask
CreateMotionModel< ParticleT >
CreateOdometryHolds particle-independent odometry code so we can avoid templating and just recompile the cc file
KoduInterpreter::InitializeAgent::CreateWorld
CylindricalObstacleCylinder with central axis in alignment with z-axis by default
AprilTags::UnionFindSimple::DataIdentifies parent ids and sizes
Resource::DataBase class for holding data required for requesting to use/release the resource
DataEvent< T, TID >Event type for passing around data (or pointers to data). In a state machine, use a SignalTrans to test for a specific data value and make the sid the address of the node posting the event
DeadReckoningBehavior< ParticleT >Subscribes to LocomotionEvents and attempts to track robot movement over time using a fairly generic HolonomicMotionModel
plist::DictionaryBase::DeniedValueConversionsIndicates that no value conversions are allowed
plist::ArrayBase::DeniedValueConversionsIndicates that no value conversions are allowed
DepthCam
Config::vision_config::DepthCamConfig
plist::DictionaryBaseMaintains a set of (key,value) pairs, see DictionaryOf, and the Dictionary typedef
plist::DictionaryOf< PO, Alloc >A dictionary which requires all elements to be subtypes of the PO template argument
DualCoding::Pilot::Dispatch
DualCoding::Pilot::ExecutePlan::DisplacementInstructionEach turn or travel step in a navigation plan is a DisplacementInstruction
DualCoding::Pilot::PushObjectMachine::DisplayPathInitToObj
DualCoding::Pilot::PushObjectMachine::DisplayPathObjToDest
DualCoding::Pilot::PushObjectMachine::DisplayStraightLineInitToObj
DualCoding::Pilot::PushObjectMachine::DisplayStraightLineObjToDest
ParticleFilter< ParticleT >::DistributionPolicyA distribution policy provides the ability to randomize ("redistribute") or tweak the values of a group of particles
fmat::fmat_internal::do_promotion< T1, T2, promoteT1 >
fmat::fmat_internal::do_promotion< T1, T2, false >
Grasper::DoArmApproachExecute arm motion to get fingers around the object
Grasper::DoArmDeliverExecute arm motion to deposit the object at its destination
Grasper::DoBodyApproachExecute body motion to approach the object
Grasper::DoBodyApproach2For Calliope2SP: move body instead of arm to acquire the object
Grasper::DoBodyApproach3For Calliope2SP: move body instead of arm to acquire the object
Grasper::DoBodyTransportExecute body move for dropoff
Grasper::DoWithdrawDoWithdraw from the object
DrawA very simple drawing environment, originally to visualize planner stuff
KoduInterpreter::GiveActionRunner::Drop
KoduInterpreter::DropActionRunner::DropActionEnd
KoduInterpreter::DropActionRunner
KoduInterpreter::DropActionRunner::DropActionStart
KoduInterpreter::DropActionRunner::ExecuteDrop::DropItem
LookAtMarkers::DummyFinish
CMVision::DummyI3< x, y, z >
DummySocketTekkotsu wireless DummySocket class
CMVision::DummyT1< T >
CMVision::DummyT1I3< T, x, y, z >
DumpFileControlUpon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
DynamicInfo::DynamicCapabilitiesPolymorphic robot capability detection/mapping
DynamicInfo::DynamicInfoRow< T, N >2D array of constant width
DynamicMotionSequenceUses STL's vector for dynamic memory allocation - don't use this as a motion command, pointers in shared memory regions can be invalid in other processes
DynamicMotionSequenceNodeA StateNode for playing a DynamicMotionSequence (and looping it if desired)
DynamicRobotStateThis class provides a dynamic storage and serialization of robot state, such as output positions, buttons, and sensors
EchoBehaviorWaits for a connection, echos any data received back to the sender
AprilTags::EdgeRepresents an edge between adjacent pixels in the image
EllipsoidObstacle
EllipticalObstacleElliptically defined obstacle
EmergencyStopMCOverrides all joints with high priority freeze, blinks tail pink/red/blue cycle
EmptyResourceNo-op resource, since we don't want Resource itself to be directly instantiatable
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::EndRecovery
MessageQueue< MAX_UNREAD, MAX_RECEIVERS, MAX_SENDERS >::entryData storage needed for each message
RegionRegistry< MAX_REGIONS, NAME_LEN >::entryHolds information regarding a shared memory region available for listening
ListMemBuf< T_t, MAX, idx_t >::entry_tHolds data about an entry in the free/used lists
plist::DictionaryBase::EntryConstraint< PO >This base conversion policy doesn't actually specify any conversions at all -- this serves as a base class to provide the ability to directly add entries of the specified type; the subclasses will add value conversions
plist::ArrayBase::EntryConstraint< PO >
ERS210Info::ERS210CapabilitiesPolymorphic robot capability detection/mapping
ERS220Info::ERS220CapabilitiesPolymorphic robot capability detection/mapping
ERS2xxInfo::ERS2xxCapabilitiesPolymorphic robot capability detection/mapping
ERS7Info::ERS7CapabilitiesPolymorphic robot capability detection/mapping
EStopControllerListens to control commands coming in from the command port for remotely controlling the head
EventBaseForms the basis of communication between modules/behaviors in the framework
EventCallbackAs< EV >Listens for a specified event and then forwards to the specified callback
EventGeneratorBaseA simple convenience class for event generators
EventListenerAn interface to allow a standard method of passing events
EventLoggerAllows logging of events to the console or a file, also provides some remote logging facilities over logSocket, required by Storyboard tool
EventRouter::EventMapperDoes the actual storage of the mapping between EventBase's and the EventListeners/EventTrappers who should receive them
EventProxy
EventRouterThis class will handle distribution of events as well as management of timers
EventTransCauses a transition when the specified event is received
EventTranslatorEventTranslator receives events from EventRouters in non-Main processes and adds them into a SharedQueue for Main to pick up
EventTrapperAn interface to allow a standard method of trapping events
KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner::ExamineMapBuilderResults
VL::ExceptionGeneric exception
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteDriverMotion
KoduInterpreter::DropActionRunner::ExecuteDrop
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteGoToShapeRequest
KoduInterpreter::GrabActionRunner::ExecuteGrabAction
KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner::ExecuteMapBuilderTask
KoduInterpreter::MotionActionRunner::ExecuteMotionAction
KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::ExecutePilotTask
DualCoding::Pilot::ExecutePlanExecute a navigation plan; used for both goToShape and pushObject
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::ExecuteSimpleTurn
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::ExecuteSimpleWalk
DualCoding::Pilot::ExecutePlan::ExecuteStep
KoduInterpreter::GrabActionRunner::PrepareBody::FaceObject
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::FaceTarget
FactoryInvalidT< typename >::Factory< U >Concrete class for not doing anything
Factory0Arg< Base >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory0Arg1Static< Base, S1, s1 >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory0Arg1Member< Base, M1 >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory0Arg2Static< Base, S1, s1, S2, s2 >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory1Arg< Base, A1 >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory1Arg1Static< Base, A1, S1, s1 >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory1Static1Arg< Base, S1, s1, A1 >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory0_1Arg< Base, A1 >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory1Static_1Arg< Base, S1, s1, A1 >::Factory< T >Concrete class for constructing products of a specified subtype of Base
Factory0_1Arg< Base, A1 >Base class for factories which can create products more than one way, in this case via default constructor (0 arguments) or 1-argument constructor
Factory0Arg< Base >Typed base class for factories which don't require any arguments to construct their product, see Factories.h file notes
Factory0Arg1Member< Base, M1 >This class produces objects based on a constant specified as a factory member
Factory0Arg1Static< Base, S1, s1 >This class produces objects based on a constant specified as a template parameter
Factory0Arg2Static< Base, S1, s1, S2, s2 >This class produces objects based on constant values specified as a template parameters
Factory0ArgBaseUntyped base class for factories which don't require any arguments to construct their product, see Factories.h file notes (see Factory0Arg)
Factory1Arg< Base, A1 >Typed base class for factories which require a single argument to construct their product, which is passed to the concrete Factory's functor
Factory1Arg1Static< Base, A1, S1, s1 >This class produces objects based on a functor argument and a constant specified as a template parameter
Factory1ArgBase< A1 >Untyped base class for factories which require a single argument to construct their product, which is passed to the concrete Factory's functor (see Factory1Arg)
Factory1Static1Arg< Base, S1, s1, A1 >This class produces objects based on a constant specified as a template parameter and a constructor argument
Factory1Static_1Arg< Base, S1, s1, A1 >Variant of Factory0_1Arg, this uses a constant non-type template parameter to specify a default value to use when the 0-argument functor is called..
FactoryInvalidT< typename >A factory interface which doesn't actually allow anything to be produced (for completeness, like 'NULL')
FactoryT
FamilyFactory< FamilyT, NameT, FactoryBaseT, FactoryT >::FactoryType< T >Allows indirect access to create factory classes
InstanceTracker< FamilyT, ClassNameT, FactoryBaseT, FactoryT >::FactoryType< T >Allows indirect access to create factory classes
FailsafeThreadEnforces a timeout on another thread
KoduInterpreter::PerceptualMultiplexor::FailureRecovery
FamilyFactory< FamilyT, NameT, FactoryBaseT, FactoryT >A class which can track a set of subclass types (with shared base class FamilyT), generating new instances on demand based on some form of identifier (the NameT template parameter)
DualCoding::Pilot::PushObjectMachine::FetchObj
FFPlanner
FFPlanNode
FileBrowserControlDisplays the contents of a directory in a control menu, probably useful as a baseclass for other controls
FileInputControlUpon activation, allows user to browse files and select one; stores path in a string
FilterBankEventThis event gives access to a set of image channels at different resolutions, see FilterBankGenerator
FilterBankGeneratorAbstract base class for generators of FilterBankEvent's
KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget
Grasper::FindObjRe-acquire object on local map after moving the body
KoduInterpreter::ReceiveActionRunner::FindObject
KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::FindObject
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::FindObjectAgain
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::FindObjectAgain
Grasper::FingersApproachOpen fingers far enough to accomodate object
DriverMessaging::FixedPointsFor simulation purposes, notifies visualizer to hold the specified points fixed relative to the world, and move the base frame instead
FlashIPAddrBehaviorDisplays IP address by speaking the digits and flashing a series of numbers on the LED face panel
AprilTags::FloatImageRepresent an image as a vector of floats in [0,1]
FlowVector
FreeMemReportControlGives reports on free memory size at variable rates, can also warn if free memory drops too low
GaitedFootstepMCExecutes a series of footsteps, probably generated by applying astar() to a GaitedFootsteps domain
GaitedFootsteps
GamepadControllerListens to Gamepad events coming in from the gamepad port
AprilTags::Gaussian
DualCoding::GazePoint
GenericAngularForceInterface
GenericAngularMotorInterface
GenericAngularPositionInterface
GenericRRT< NODE, N >Generic RRT implementation that makes no assumptions about the nature of the state space; those details are handled by the NODE template argument, which must be a subclass of RRTNodeBase
GenericRRTBase
Grasper::Verify::GetAprilTag
Grasper::Verify::GetCross
Grasper::Verify::GetDomino
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery::GetObjectInfo
Grasper::Rest::GetOpenGripperFlag
Grasper::Rest::GetRestType
KoduInterpreter::GrabActionRunner::GrabActionStart::GetTagId
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::GetTagLocation
KoduInterpreter::GiveActionRunner
KoduInterpreter::GiveActionRunner::GiveActionSend
KoduInterpreter::GiveActionRunner::GiveActionStart
AprilTags::GLine2DA 2D line
AprilTags::GLineSegment2DA 2D line with endpoints
DualCoding::Pilot::GoToShapeMachine
GPSSensor
KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::Grab
KoduInterpreter::GrabActionRunner::GrabActionEnd
KoduInterpreter::GrabActionRunner
KoduInterpreter::GrabActionRunner::GrabActionStart
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::GrabObject
GraphicsProvides basic graphics capabilities for drawing into any bitmap, particularly FilterBankGenerators
GrasperThe Grasper is the member of the Tekkotsu Crew responsible for arm-based manipulation
GrasperEventEvent for reporting the results of a Grasper operation
Grasper::GrasperFailedReport failure of the grasper request via a GrasperEvent
GrasperNodeCreates a GrasperRequest graspreq that the user can modify in their doStart() function, then executes the request when doStart() returns
GrasperRequestRequest to the Grasper to manipulate something
Grasper::GrasperSucceededReport successful completion of the grasper request via a GrasperEvent
GrasperTransCauses a transition if a GrasperEvent from grasperEGID occurs, and checks for a specific error value if one is supplied
AprilTags::GrayModelFits a grayscale model over an area of pixels
GreedySamplerIteratively samples over a one dimensional numeric region by subdividing the largest unsampled region
AprilTags::Gridder< T >A lookup table in 2D for implementing nearest neighbor
GridWorld
GripperPower
GroupNodeAllows a group of StateNodes to be activated together
HandEyeInfo::HandEyeCapabilitiesPolymorphic robot capability detection/mapping
HandEyeGripper
HandEyeZInfo::HandEyeZCapabilitiesPolymorphic robot capability detection/mapping
Kodu::HasAprilTagID
hashcmp_eqstr
Hashtable< data, key, hashFunc, equals >
HeadControllerListens to control commands coming in from the command port for remotely controlling the head
HeadPointerMCThis class gives some quick and easy functions to point the head at things
HeadPointerNodeA simple StateNode that executes a HeadPointerMC motion command
HelpControlRecurses through the menu system and outputs the name and description of each item
HierarchicalObstacleHierarchically defined obstacle containing multiple obstacles
HingeAngularMotorInterface
HingePositionInterface
HingeVelocityInterface
HolonomicMotionModel< ParticleT >This class can model the path of a holonomic robot in two dimensions (x and y)
Homography
Homography33Compute 3x3 homography using Direct Linear Transform
HoughKey
RCRegion::IdentifierAll information needed to attach this region from a different process
fmat::Matrix< H, W, R >::IdentityMatrix< HH, WW, RR >
Grasper::IfRequestIs
IKCalliopeKinematics solver for the 5-DOF Calliope Arm
IKGradientSolverPerforms gradient descent on the joints to find a solution
IKSolverProvides an abstract interface to inverse kinematic solvers
IKThreeLinkPerforms analytical solution for position control of a variety of three or fewer link configurations
CMVision::image< pixel >
CMVision::image_idx< pixel >
CMVision::image_yuv< element >
ImageBuffer
DualCoding::ImageProfileOdometryImage profile visual odometry
BufferedImageGenerator::ImageSourceStores information about the current frame, (not the image itself, but meta data a pointer to it)
KoduInterpreter::InitializeAgent
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery
InstanceTracker< FamilyT, ClassNameT, FactoryBaseT, FactoryT >::InstanceEntryProvides a wrapper for non-plistDictionary entries
InstanceTracker< FamilyT, ClassNameT, FactoryBaseT, FactoryT >Attempts to provide references to all currently instantiated objects of a class (and its subclasses)
InstanceTypeLoaderPre-loads dictionaries for InstanceTracker::loadXML to extract ".type" entries so matching instances can be created for loading
plist::DictionaryBase::IntegerConversionAbstract base class to test whether the collection will accept integers (possibly converting to another value type, or storing directly as a [unsigned] long depending on concrete type)
plist::ArrayBase::IntegerConversionAbstract base class to test whether the collection will accept integers (possibly converting to another value type, or storing directly as a [unsigned] long depending on concrete type)
Kinematics::InterestPointHolds the position and attached link of a given interest point
InterleavedYUVGeneratorGenerates FilterBankEvents containing raw camera images with interleaved pixels (YUVYUVYUV... instead of YYY...UUU...VVV...)
InverseMarkScopeProvides a way to mark a resource as unused for the duration of the instance's scope, thus negating MarkScope for a portion
IPaddr
IPCEventTranslatorAn implementation of EventTranslator which will forward events using the inter-process mechanisms of the current platform
DualCoding::LookoutRequestBase::IRTask
Kodu::IsMatchForTargetObject
Kodu::IsNotExcludedShape
Kodu::IsNotWorldShape
KoduInterpreter::GrabActionRunner::GrabActionStart::IsObjectNear
Kodu::IsShapeOfType
Kodu::IsStar
AprilTags::Gridder< T >::IteratorIterator for Segment class
RRTNode2DR< N >::CollisionChecker::JointObstacle
RRTNode3DR< N >::CollisionChecker::JointObstacleCoarse box-type obstacle representing a joint and all its components
JPEGGeneratorGenerates FilterBankEvents containing JPEG compressed images
KDTree
keygroup
keypoint
VL::Sift::KeypointSIFT keypoint
keypointPair
KinematicJointManages parameters which define the position and type of motion produced by an actuator (i.e. forward kinematics)
KinematicJointLoaderHandles the recursive loading of a tree of joints
KinematicJointSaverHandles the recursive saving of a tree of joints
KinematicsForward and inverse kinematics calculations using Tekkotsu output indices
KnowledgeBase
Kodu::Parser::KodeCreatorUsed to create the pages, rules, conditions, and actions of a Kodu program
Kodu::KoduActionKodu Action (derived from Kodu Behavior)
Kodu::KoduActionDoNothing
Kodu::KoduActionDropKodu Action Drop class (derived from Kodu Action)
Kodu::KoduActionGiveKodu Action Give class (derived from Kodu Action)
Kodu::KoduActionGrabKodu Action Grab (derived from Kodu Action)
Kodu::KoduActionMotionKodu Action Motion (derived from Kodu Action)
Kodu::KoduActionPageSwitchKodu Action Page Switch class (derived from Kodu Action)
Kodu::KoduActionPlayKodu Action Play class (derived from Kodu Action)
KoduInterpreter::KoduActionRunnerKodu Action Runner
Kodu::KoduActionSayKodu Action Say class (derived from Kodu Speech Action)
Kodu::KoduActionScoreKodu Action Score (derived from Kodu Action)
Kodu::KoduAgent
Kodu::KoduConditionKodu Condition (derived from Kodu Primitive)
Kodu::KoduConditionAlwaysKodu Condition Always (derived from Kodu Condition)
Kodu::KoduConditionBump
KoduInterpreter::KoduConditionEvaluator
Kodu::KoduConditionGamepad
Kodu::KoduConditionGot
Kodu::KoduConditionHear
Kodu::KoduConditionScoredKodu Condition Scored (derived from Kodu Condition)
Kodu::KoduConditionSee
Kodu::KoduConditionTimer
KoduConfig
KoduDiscover
KoduEventBase
KoduInterpreter::KoduEventListener
KoduGiveEvent
KoduInterpreter
Kodu::KoduObjectKodu Object class
Kodu::KoduPageKodu Page
Kodu::KoduPrimitiveKodu Primitive
Kodu::KoduRuleKodu Rule
KoduSayEvent
Kodu::KoduState
Kodu::KoduWorld
LedActivateSimpler version of LedNode that turns on the specified LEDs on entry and explicitly turns them off again on exit
LedEngineProvides basic LED effects via subclassing (e.g. LedMC) or embedding (e.g. EmergencyStopMC)
LedEngine::LEDInfoHolds all the information needed by each of the LEDs
LedMCThis is just a simple wrapper - you probably want to be looking at LedEngine
LedNodeStateNode that executes a LedMC motion command and posts a status event upon completion
CMPackWalkMC::LegParamHolds parameters about how to move each leg
XWalkParameters::LegParametersSpecifies parameters for each leg
XWalkMC::LegStateCached information about each leg's stride
CMPackWalkMC::LegWalkStateHolds state about each leg's path
fmat::Length_mismatch_or_non_vector
LGmixinMix-in for the BehaviorBase or StateNode class to give access to Looking Glass variables
LGNodeA simple StateNode that provides the Looking Glass display methods via LGmixin
IKSolver::LineLines allow 1 freedom, slide along line
LinearMotorController
LinkComponentThese let you build the link from a series of model and material settings instead of one static model/material for the whole link
RRTNode2DR< N >::CollisionChecker::LinkObstacle
RRTNode3DR< N >::CollisionChecker::LinkObstacleAn obstacle representing the actual shape of one robot component
DriverMessaging::ListenerInterface for drivers to receive messages, see addListener() and removeListener()
plist::ListenerBase class for the plist listener callbacks
ListMemBuf< T_t, MAX, idx_t >Provides some degree of dynamic allocation of a templated type from a buffer of set size
Kodu::LiteralGenerator
LoadCalibrationWill load calibration parameters from a text file into a forward and backward matrix
LoadPostureControlUpon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
DriverMessaging::LoadPredictionEncodes a set of load predictions for joints so driver can offset target positions accordingly
LoadSaveIntended as an interface to allow easy and portable serialization operations
ConfigurationEditor::LoadSettingsFile browser to load a plist from the file system
LoadWalkControlWhen activated, loads a set of walk parameters from a file specified by user
DualCoding::Pilot::LocalizationMachine
LocalizationParticleEach Particle represents a hypothesis about the robot's 2D position and heading
LocalizationParticleDistributionPolicy< ParticleT >Provides parameters and methods for randomizing and tweaking LocalizationParticles
DualCoding::Pilot::LocalizationUtilityState machine called by various Pilot functions to perform a landmark search and localization
DualCoding::Pilot::LocalizationUtility::Localize
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::LocalizeAgent
KoduInterpreter::DropActionRunner::ExecuteDrop::LocalizeAgent
LocalShapeEvaluatorProvides evaluation of the match between local or camera and world given a candidate particle
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject
Thread::LockInter-thread lock -- doesn't work across processes, only threads within a process. (see MutexLock for inter-process locks)
LocomotionEventGives updates regarding the current movement of the robot through the world
LogNodeOn activation, start logging data to disk as a series of image and/or sensor files
KoduInterpreter::InitializeAgent::LookAround
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::LookAroundForObject
LookAtGripper
LookAtMarkers
KoduInterpreter::DropActionRunner::ExecuteDrop::LookAtObjectAprilTag
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::LookAtTheGripper
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::LookAtTheGripper
KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::LookDown
DualCoding::Pilot::LookForObject
KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::LookForObjectAgain
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::LookForTag
DualCoding::Pilot::LookForTarget
DualCoding::LookoutThe Lookout accepts LookoutRequests to move the head and collect sensor information
LookoutEventAbstract base class for all Lookout Events
LookoutIREvent
LookoutPointAtEvent
DualCoding::LookoutPointRequestTake a picture of or measure a distance to a point in space
DualCoding::LookoutRequestBaseBase class for requests to the Lookout
LookoutScanEvent
DualCoding::LookoutScanRequest
DualCoding::LookoutSearchRequestSearch for an object and return when found
LookoutSketchEvent
DualCoding::LookoutTrackRequest
LostTargetTransCauses a transition if the target has not been seen minframe times within delay milliseconds
ParticleFilter< ParticleT >::LowVarianceResamplingPolicyThis class provides a generic, default ResamplingPolicy. It is based on the low variance resampling policy algorithm found in "Probabilistic Robotics" by Sebastian Thrun, Wolfram Burgard, Dieter Fox
Config::main_configGeneral configuration options
MantisArmInfo::MantisArmCapabilitiesPolymorphic robot capability detection/mapping
MantisInfo::MantisCapabilitiesPolymorphic robot capability detection/mapping
MantisLegInfo::MantisLegCapabilitiesPolymorphic robot capability detection/mapping
DualCoding::MapBuilder
MapBuilderNodeCreates a MapBuilderRequest mapreq that the user can modify in their doStart() function, then executes the request when doStart() returns
DualCoding::MapBuilderRequest
KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner
MarkScopeProvides a way to mark a resource as used for the duration of the instance's scope
Kodu::MatchesObjectTagInGripperA functor that will check if the object is still in the robot's gripper
matchInfo
AprilTags::MathUtilMiscellaneous math utilities and fast exp functions
fmat::Matrix< H, W, R >
fmat::Matrix_multiplication_left_width_must_match_right_height
MCNode< T, mcName, mcDesc, completes >A generic wrapper for any MotionCommand. Note that some functions are provided by the MCNodeBase common base class, namely MCNodeBase::setMC() and MCNodeBase::getMC_ID()
MCNodeBaseCommon parent class for all the templated MCNode, which is what you want to instantiate
MCValueEditControl< T >Allows you to modify a value in memory, much like ValueEditControl, but will check out a MotionCommand first to maintain proper mutual exclusion
DriverMessaging::MessageBase class for all driver messages, this subclasses XMLLoadSave in case we want to serialize for messages from non-threaded (full multi-process) IPC, or offboard computation
MessageQueueBase::MessageFilterInterface for filtering (or otherwise monitoring) messages being sent through a MessageQueue, see MessageQueueBase::addMessageFilter()
MessageQueue< MAX_UNREAD, MAX_RECEIVERS, MAX_SENDERS >An implementation of MessageQueueBase, which provides mechanisms for sending shared memory regions between processes
MessageQueueBaseDefines the interface for sending new shared memory regions between processes
MessageQueueStatusThreadDescription of MessageQueueStatusThread
MessageReceiverSpawns a thread for monitoring a MessageQueue, calls a specified function when new messages are available
MicrophoneServerStreams audio from the microphone over the network
MMAccessor< MC_t >This class allows convenient ways of accessing a motion command
fmat::fmat_internal::mmops< T1, T2 >
fmat::fmat_internal::mmops< T1< 2, 2, R1 >, T2< 2, 2, R2 > >
fmat::fmat_internal::mmops< T1< 3, 3, R1 >, T2< 3, 3, R2 > >
fmat::fmat_internal::mmops< T1< 4, 4, R1 >, T2< 4, 4, R2 > >
MoCapEventProvides notification of new external localization data
MoCapLoggerProvides display and logging of mocap data
model
KnowledgeBase::modelMatchingInfo
BehaviorBase::MonitorMotionAn instance is created for each motion activated through addMotion(), listening in case the motion is removed by some other means, thus invalidating the MC_ID
Config::motion_configMotion information
KoduInterpreter::MotionActionRunner
Kodu::MotionCommand
MotionCommandThe abstract base class for motions, provides common interface. All motions should inherit from this
KoduInterpreter::MotionActionRunner::MotionEnd
MotionManagerThe purpose of this class is to repeatedly compute the final set of joint angles for the robot, managing a set of (possibly conflicting) MotionCommands
MotionManagerMsgA small header that precedes data sent by MotionManager between processes
ParticleFilter< ParticleT >::MotionModelA motion model is retained by the particle filter to query before evaluating sensor measurements so all known influences are accounted for before testing the particles
MotionPtr< T >A shared_ptr for MotionCommands; provides allocation and access to a MotionCommand, ensuring mutually exclusive access and scope-based deallocation
MotionSequenceEngineA handy class for storing a sequence of keyframed movements
MotionSequenceMC< MAXMOVE >Instantiates MotionSequenceEngines - when you want to run a motion sequence, make one of these
MotionSequenceNode< SIZE >A StateNode for playing a MotionSequence (and looping it if desired)
KoduInterpreter::MotionActionRunner::MotionStart
MotorControllerSync entries here with those in KinematicJoint::ControllerInfo
MotionSequenceEngine::MoveThis struct holds all the information needed about a frame for a particular output
Grasper::MoveArmMoves the body
DualCoding::Pilot::PushObjectMachine::MoveObjectPos
KoduInterpreter::PerceptualMultiplexor::MultiplexorEnd
KoduInterpreter::PerceptualMultiplexor::MultiplexorStart
MutexLock< num_doors >Implements a mutual exclusion lock using pthread mutex
MutexLockBaseThe main purpose of this base class is actually to allow setting of usleep_granularity across all locks
fmat::fmat_internal::mvops< M, V >
fmat::fmat_internal::mvops< T1< 2, 2, R1 >, T2< 2, R2 > >
fmat::fmat_internal::mvops< T1< 3, 3, R1 >, T2< 3, R2 > >
fmat::fmat_internal::mvops< T1< 4, 4, R1 >, T2< 4, R2 > >
plist::NamedEnumeration< T >Provides an interface for the use of enumerations in a plist -- you can specify values by either the string name or the corresponding integer value
plist::NamedEnumerationBase
ConfigurationEditor::NamedEnumerationEditorBased on a string input control for easier mixing with other primitives (which just use a basic string input control as an editor)
DualCoding::PilotTypes::NavigationPlanStores and indexes into a sequence of actions to complete a navigation task
DualCoding::PilotTypes::NavigationStep
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::NeedToLookAround
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::NeedToLookAround
netstream_server
NetworkBuffer
ConfigurationEditor::NewCollectionEntryInterface to set up a new collection entry before inserting it
Grasper::NextRequestMove on to the next grasper request
DualCoding::Pilot::ExecutePlan::NextTask
Thread::NoCancelScope
AStar::Node< State >Stores user state along with search context
nodeSqDistPair
RRTNodeXYTheta::NodeValue_t
RRTNode3DR< N >::NodeValueWrapper
RRTNode2DR< N >::NodeValueWrapper
fmat::fmat_internal::NoInit
SharedObjectBase::NoInitWhen passed to the SharedObject constructor, indicates that no RCRegion should be created
fmat::NonSquare_Matrix
NoOpEventTranslatorFor completeness, if you want to have events be piped directly to the local erouter instead having to be encoded and decoded
SegmentedColorGenerator::NoThresholdExceptionThrown if no threshold maps are available
KoduInterpreter::NotificationMonitor
NullControlWhen activated, this will return immediately (handy for fake items in a menu)
NullTransTransition that occurs (via a 1 msec Timer event) as soon as the source node finishes starting up
Kodu::NumericGenerator
object
plist::ObjectBaseThis base class provides the root functionality for all plist entities -- Dictionary and the various templated subclasses of PrimitiveBase
Kodu::ObjectKeeper
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery
OCdtInfo
OCdtVectorData
ODataVectorInfoCompatability with the OPEN-R type of the same name
OdometrySensorOdometry is presently only used for the Create robot, which reports cumulative distances and angles
OFbkImage
OFbkImageInfoCompatability with the OPEN-R type of the same name
OFbkImageVectorDataCompatability with the OPEN-R type of the same name
OpenGripper
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery::OpenGripper
Grasper::OpenTheGripperOpen the gripper
OpticalFlow
DualCoding::OpticalFlowOdometryOptical flow implementation of visual odometry
KoduInterpreter::InitializeAgent::OrganizeWorld
IKSolver::OrientationAbstract base class for orientation information
OSoundInfoCompatability with the OPEN-R type of the same name
OSoundVectorDataCompatability with the OPEN-R type of the same name
OutputCmdThis object holds all the information needed to control a single output
OutputConfig< T >Stores an item for each joint, can be accessed via joint name or array offset
OutputNodeA very simple StateNode that outputs its name to a given ostream upon activation, handy for debugging
OutputPIDThis object holds all the information needed to control a single output
plist::OutputSelectorHandles mapping <string> elements to the appropriate numeric offset using Capabilities database
MotionManager::OutputStateHolds the full requested value of an output
SpeakerServer::PacketStores information about current sound buffer
KoduInterpreter::PageSwitchActionRunner
KoduInterpreter::PageSwitchActionRunner::PageSwitchEnd
KoduInterpreter::PageSwitchActionRunner::PageSwitchStart
IKSolver::ParallelParallel allows 1 freedom (roll along z vector)
XWalkMC::ParameterTransition
ParkArm
Kodu::ParsedPage
Kodu::ParsedPhrasePhrase class
Kodu::ParsedRule
KoduInterpreter::InitializeAgent::ParseKode
Kodu::Parser
ParticleBase< ParticleT >Provides a common base class for particles used by the ParticleFilter
ParticleFilter< ParticleT >Implements a particle filter with support for a variety of applications through the usage of arbitrary combination of a variety of models and policies
Grasper::PathPlanConstrainedPlan a constrained path
Grasper::PathPlanToRestPlan a path to the rest state
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::PauseInterpretation
KoduInterpreter::PerceptualMultiplexor
Kodu::PerceptualTaskBase
PfAprilTagAn apriltag landmark
PfBlobA blob landmark
PfCylinderA cylinder landmark
PfEllipseAn ellipse landmark
PfLineA line landmark; world lines will have two of these, with the endpoints switched
PfMarkerA marker landmark
PfPointA point landmark
PfRootRoot class for the particle filter landmark classes
VL::PgmBufferPGM buffer descriptor
PGMImg
PhysicsBodyInterface to the Bullet physics engine, although parameters controlled by PhysicsBody::ComponentListener and its associated LinkComponent
PhysicsWorldDescription of PhysicsWorld
PIDMCA nice little MotionCommand for manually manipulating the PID values
PIDMotorController
PIDNodeA simple StateNode that executes a PIDMC motion command
MotionManager::PIDUpdateUsed to request pids for a given joint
DualCoding::PilotThe Pilot is the top-level navigation engine for Tekkotsu
PilotEventEvent for reporting the results of a Pilot operation
PilotNodeCreates a PilotRequest pilotreq that the user can modify in their doStart() function, then executes the request when doStart() returns
DualCoding::PilotRequestRequest to the Pilot for motion or navigation
KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner
PilotTransCauses a transition if a PilotEvent from pilotEGID occurs, and checks for a specific error value if one is supplied
PitchDetectorGenerates a PitchEvent whenever a notable frequency is detected using FFT
PitchEventProvides information about a tone detected from the microphone(s)
PitchDetector::PitchInfoStores info about the pitch currently being detected
Grasper::PlanArmApproachPlan arm motion to get fingers around the object
Grasper::PlanArmDeliverPlan arm move to dropoff location
Grasper::PlanBodyApproachPlan body motion to approach the object
Grasper::PlanBodyTransportPlan body move to dropoff location
IKSolver::PlanePlanes allow 2 freedoms, move in plane
PlaneEquationRepresentation of a plane as ax + by + cz = d; used for representing the ground plane
PlannerObstacle< N >Base class for all obstacles
GenericRRTBase::PlannerResult< N >Relays planner success/failure, as well as obstacles in the case of initial collision states
DualCoding::Pilot::PlanPath
KoduInterpreter::PlayActionRunner
KoduInterpreter::PlayActuator
KoduInterpreter::PlayActionRunner::PlayEnd
player_identity
PlaySoundControlUpon activation, loads plays a selected sound stored in ms/data/sound)
KoduInterpreter::PlayActionRunner::PlayStart
SoundManager::PlayStateHolds data about sounds currently being played
PNGGeneratorGenerates FilterBankEvents containing PNG compressed images
plist::PointA simple class for storing 3D points, will be serialized as an array and provides operator[], but you can also use the x, y, z fields directly if preferred
IKSolver::PointPoints allow 0 freedoms
KoduInterpreter::InitializeAgent::PointHeadFwd
PollThreadDescription of PollThread
IKSolver::PositionAbstract base class for position information
KoduInterpreter::GiveActionRunner::PositionBody
Kodu::PosOrientState
EventRouter::PostingStatusInformation regarding the progress of posting an event
PostMachineCompletionThis node can be included in an embedded state machine to make its parent post a completion event
PostMachineFailureThis node can be included in an embedded state machine to make its parent post a failure event
PostMachineSuccessThis node can be included in an embedded state machine to make its parent post a success event
PostStateCompletionThis node posts a completion event; it is used to construct dummy behaviors
PostureEditorAllows logging of events to the console or a file
PostureEngineA class for storing a set of positions and weights for all the outputs
PostureMCMotionCommand shell for PostureEngine
PostureNodeA simple StateNode that executes a PostureMC motion command
PQueue< T >Convenient priority queue implemented using the STL's heap algorithm
fmat::fmat_internal::precision_trait< T >
fmat::fmat_internal::precision_trait< bool >
fmat::fmat_internal::precision_trait< char >
fmat::fmat_internal::precision_trait< double >
fmat::fmat_internal::precision_trait< float >
fmat::fmat_internal::precision_trait< int >
fmat::fmat_internal::precision_trait< long >
fmat::fmat_internal::precision_trait< long double >
fmat::fmat_internal::precision_trait< short >
fmat::fmat_internal::precision_trait< unsigned char >
fmat::fmat_internal::precision_trait< unsigned int >
fmat::fmat_internal::precision_trait< unsigned long >
fmat::fmat_internal::precision_trait< unsigned short >
KoduInterpreter::GrabActionRunner::PrepareBody
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery
DualCoding::Pilot::LocalizationUtility::PrepareForNextGazePoint
plist::Primitive< T >
plist::PrimitiveBaseProvides common functionality to all primitive value classes (implemented in a templated subclass Primitive)
plist::PrimitiveCallbackMember< O >Produces a callback on a member function when the value changes
plist::PrimitiveListenerIf you wish to be notified any time a particular plist primitive's value has been changed, inherit from this and implement the callback, then register it with the plist object through Primitive::addPrimitiveListener()
ProfilerManages a hierarchy of timers for profiling time spent in code, gives microsecond resolution
ProfilerOfSize< MaxSections >Templated subclass allows compile-time flexibility of how much memory to use
fmat::fmat_internal::promotion_trait< T1, T2 >
ProportionalMotorController
DualCoding::Pilot::PushObjectMachine
QBotPlusInfo::QBotPlusCapabilitiesPolymorphic robot capability detection/mapping
AprilTags::QuadRepresents four segments that form a loop, and might be a tag
fmat::QuaternionT< R >Quaternions can be more efficient and more stable for a series of rotations than a corresponding 3x3 matrix, also more compact storage
ToggleControl::RadioGroupLittle class for managing the currently active ToggleControl to allow radio buttons
RandomTransA transition that fires immediately, randomly choosing one destination node to activate
GreedySampler::range
RawCamForwards images from camera over wireless
Config::vision_config::RawCamConfigSettings specific to the "RawCam" (original camera images) for streaming video over the network
RawCameraGeneratorGenerates FilterBankEvents containing raw camera images directly from the system (doesn't make a copy)
RawImage
RawImagePyramid
RCRegionCompatability with the OPEN-R type of the same name
plist::DictionaryBase::RealConversionAbstract base class to test whether the collection will accept floating point numbers (possibly converting to another value type, or storing directly as a double depending on concrete type)
plist::ArrayBase::RealConversionAbstract base class to test whether the collection will accept floating point numbers (possibly converting to another value type, or storing directly as a double depending on concrete type)
RebootControlWhen activated, this will cause the aibo to reboot
KoduInterpreter::ReceiveActionRunner::ReceiveActionEnd
KoduInterpreter::ReceiveActionRunner
KoduInterpreter::ReceiveActionRunner::ReceiveActionStart
KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet
ThreadedMessageQueue< T >::ReceiverThread< F, C >Pulls messages out of the queue and gives them to the specified callback
ThreadedMessageQueue< T >::ReceiverThreadBaseHolds controller flags for the receiver thread to indicate exit conditions
KoduInterpreter::DropActionRunner::ExecuteDrop::RecordAprilTagPos
RecordMotionNodeDESCRIPTION
RectangularObstacleRectangular defined obstacle designated by 4 corners and its rotation matrix from axis alignment
ReferenceCounterPerforms simple reference counting, will delete the object when removing the last reference
CMVision::region
CMVision::region_small
CMVision::region_tiny
RegionCamForwards segmented images from camera over wireless
Config::vision_config::RegionCamConfigSettings specific to the "RegionCam" (only display a box for each blob of color) for streaming over the network
RegionGeneratorConnects regions of CMVision format runs in RLEGenerator
RegionRegistry< MAX_REGIONS, NAME_LEN >Keeps track of currently available shared memory regions
Regis1Info::Regis1CapabilitiesPolymorphic robot capability detection/mapping
Grasper::ReleaseArmRelease the object
RemoteControllerMCThis class is used for setting all outputs to a certain set of values (not the gains, just the joint positions)
RemoteEvents
RemoteRequest
RemoteRouter
RemoteState
DualCoding::Pilot::ReportCompletion
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionBody
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionBody
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionGripperObject
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionGripperObject
KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::RepositionObject
KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject
ParticleFilter< ParticleT >::ResamplingPolicyThe resampling policy focuses the particle filter on those particles which are performing well, and dropping those which are poorly rated
ResetArm
ResetGripper
ResourceProvides a generic interface for resources which need to keep track of when they are in use, such as mutex locks
ResourceAccessor< R >A variation of MarkScope which allows you to forward access to the resource via the '->' operator, smart-pointer style
Grasper::RestMoves the arm to the rest state
AStar::Results< State, Cmp >Search results, including unexpanded nodes
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::RetrieveLostObject
DualCoding::Pilot::LocalizationUtility::ReturnToInitialHeading
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::Reverse
KoduInterpreter::GrabActionRunner::PrepareBody::ReverseBody
KoduInterpreter::DropActionRunner::ExecuteDrop::ReverseBody
rgb
rgba
rgbaf
plist::RGBColor< T >
rgbf
RLEGeneratorGenerates RLE compressed FilterBankEvents (generally from indexed color images from, say, SegmentedColorGenerator)
KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::Rotate
DualCoding::Pilot::VisualSearchMachine::Rotate
KoduInterpreter::GiveActionRunner::PositionBody::Rotate
IKSolver::RotationRotation (here specified as a quaternion) allows 0 freedoms
fmat::Rotation_requires_larger_dimensions
fmat::Row< N, R >
RRTNode2DR< N >
RRTNode3DR< N >
RRTNodeBaseBase class for RRT nodes used by GenericRRT
RRTNodeXY
RRTNodeXYTheta
SensorObserverControl::RTViewControlThe real time view for SensorObserverControl is split into a separate class for more straightfoward handling of refreshes
CMVision::run< cclass >
CMVision::run_mini< cclass >
DualCoding::Pilot::RunMotionModelRun the particle filter's motion model every few hundred milliseconds to provide odometry
DualCoding::Pilot::RunOpticalFlowCompute optical flow for visual odometry. Currently disabled
RunSequenceControl< SequenceSize >Upon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
EventRouter::SameIDPredicate used to remove old events from the same event source from eventQueue (see requeueEvent())
SavePostureControlUpon activation, saves the current position to a file name read from user (default is /ms/data/motion...)
ConfigurationEditor::SaveSettingsFile browser to save a plist from the file system
SaveWalkControlWhen activated, saves walk parameters to a file specified from cin
KoduInterpreter::SayActuator
KoduInterpreter::ScoreActuator
Kodu::ScoreChange
Kodu::ScoreKeeperScore Keeper
ScorePoint
DualCoding::Pilot::VisualSearchMachine::Search
LookAtMarkers::Search
Profiler::SectionInfoHolds all the information needed for book keeping for each timer
SegCamForwards segmented images from camera over wireless
Config::vision_config::SegCamConfigSettings specific to the "SegCam" (segmented color images) for streaming video over the network
AprilTags::SegmentRepresents a line fit to a set of pixels whose gradients are similiar
SegmentedColorFilterBankEventThis event provides some additional color information over its superclass for image banks made up of indexed colors
SegmentedColorGeneratorGenerates FilterBankEvents indexed color images based on a color threshold file
LookAtMarkers::SelectMarker
SemaphoreManagerIdeally, this would be SEMMSL, but that is hard to portably determine at compile time
SensorContactSets value to 1 if there are any contact constraints within the specified region of the associated body; 0 otherwise
SensorFeedbackSets value to the current joint position. This is created automatically by Mirage for named joints where min≠max, so typically you don't need to explicitly request this sensor
PostureEngine::SensorInfoUsed for storing sensor data loaded from file
SensorInfoBase class for sensor descriptions, actual subclass name stored in sensorType
ParticleFilter< ParticleT >::SensorModelA sensor model is used to update particle weights to account based on each particle's ability to explain observations taken from the system
SensorObserverControlAllows logging of sensor information to the console or file
DriverMessaging::SensorPriorityIndicates priority of polling outputs/buttons/sensors, for those drivers which must actively poll for sensor data
SensorRangeFinderConfigures a sensor to take range measurements
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::SetGrasperTarget
Grasper::SetJointSet joint to specified angle
DualCoding::Pilot::PushObjectMachine::SetMaxTurn
DualCoding::Pilot::GoToShapeMachine::SetMaxTurn
DualCoding::Pilot::SetOdometryMachine
basic_netbuf< charT, traits >::SetScope< T >This allows us to reset status variables like openInProgress if a thread cancel occurs
KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::SetTaskFailure
KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::SetTaskSuccess
DualCoding::Pilot::PushObjectMachine::SetUpExecute2
DualCoding::Pilot::PushObjectMachine::SetUpInitToObj
DualCoding::Pilot::SetupLandmarkExtractor
DualCoding::Pilot::PushObjectMachine::SetUpObjToDest
DualCoding::Pilot::PushObjectMachine::SetUpObjToDest2
DualCoding::Pilot::GoToShapeMachine::SetUpPlanNode
DualCoding::Pilot::SetVelocityMachine
DualCoding::Pilot::SetVelocityMachine::SetVelocityMachine_Walker
DualCoding::Pilot::WalkMachine::SetWalking
DualCoding::Pilot::WaypointWalkMachine::SetWalking
DualCoding::ShapeBasedParticleFilterBundles a motion model (DeadReckoningBehavior or CreateMotionModel) and a ShapeSensorModel for easy use of a shape-based particle filter for localization
DualCoding::ShapeParticleDistributionPolicy< ParticleT >
ShapeSensorModel< ParticleT >This wraps the ParticleShapeEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter
DualCoding::ShapeSLAMParticleEach Particle represents a hypothesis about the match of the local map to the world map, considering changes to the map
DualCoding::ShapeSLAMParticleEvaluatorExtends ParticleShapeEvaluator to handle the addition and removal of landmarks as necessary
DualCoding::ShapeSLAMParticleFilterBundles a DeadReckoning motion model and a ShapeSLAMSensorModel for easy use of a shape-based particle filter for mapping and localization
DualCoding::ShapeSLAMSensorModel< ParticleT >This wraps the ShapeSLAMParticleEvaluator in a ParticleFilter::SensorModel so it can be used by the particle filter
ShapeSpaceCollisionCheckerBase< N >Base class for doing collision checking in world shape space
ShapeSpacePlanner2DR< N >Plans a path in a n-dimensional angular space, uses forward kinematics for collision testing
ShapeSpacePlanner3DR< N >Plans a path in a n-dimensional angular space, uses forward kinematics for collision testing
ShapeSpacePlannerXYPlans a path in a 2D linear space, assuming the robot has circular shape
ShapeSpacePlannerXYThetaPlans a path in a 2D linear space with smooth angle changes (if turnLimit is small), using multiple bounding boxes for collision checking
SharedObject< MC >This templated class allows convenient creation of any type of class wrapped in a shared memory region
SharedObjectBaseIt's nice to have a parent class of SharedObject (which is what you probably want to be reading) so that you can pass around the data structure without worrying about what type is inside the shared memory region
ShutdownControlWhen activated, this will cause the aibo to shut down
VL::SiftSIFT filter
SIFTImage
SiftMatch
SiftTekkotsu
Grasper::SignalGraspErrorSignal the failure of a grasp sub-statemachine via a signalTrans
SignalTrans< T >Causes a transition if a DataEvent<T> from stateSignalEGID occurs, and checks for a specific value if one is specified
SineMCMoves one or more outputs through a sinusoidal pattern
SingletonFactory< T >A factory for singleton classes which return the instance via getInstance()
XWalkParameters::SinusoidalParametersSpecifies parameters for shifting the body position while in motion
SmoothCompareTrans< T >A subclass of CompareTrans, which provides monitoring of exponentially weighted averages to a threshold
SocketTekkotsu wireless Socket class
SocketListenerInterface for notifications from Wireless
IKCalliope::SolutionsStruct to enclose joint angles for 5-dof solution
Config::sound_configSound information
SoundManager::SoundDataHolds data about the loaded sounds
SoundManagerProvides sound effects and caching services, as well as mixing buffers for the SoundPlay process
SoundManagerMsgA small header that preceeds data sent by SoundManager between processes
SoundNodeA simple StateNode that plays a sound upon startup and posts a status event on completion
SpeakerServerPlays streamed audio via the speaker
SpeechNodeA StateNode that speaks text upon startup and posts a status event on completion
SphericalObstacleSpherically defined obstacle
stacktrace::StackFrameStores information about a single stack frame
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::StartRecovery
GridWorld::StateStores context used per node in path planning, stores row and column position
GaitedFootsteps::State
AStar::StateCmp< State, Cmp >For efficient lookup of existance of states in open or closed list, uses user's Cmp on the user state within the search node
AStar::StateEq< State >Tests equality of states using State::operator==
AStar::StateHash< State >Calls State::hash(), which should return value distributed over size_t
EventLogger::StateMachineListenerSeparate processEvent to distinguish between events requested for logging and events requested by a remote monitor
StateNodeRecursive data structure - both a state machine controller as well as a node within a state machine itself
MessageQueueStatusThread::StatusListenerAn interface to allow you to receive callbacks when a message has been read from a MessageQueue, subscribed via an external class which is monitoring the queue's MessageQueueBase::pollStatus() (e.g. LoadFileThread)
GaitedFootsteps::StepData
Config::sound_config::streaming_configAudio streaming configuration
Config::vision_config::StreamingConfigSettings related to streaming video over the network
plist::ArrayBase::StringConversionAbstract base class to test whether the collection will accept strings (possibly converting to a value type, or storing directly as string depending on concrete type)
plist::DictionaryBase::StringConversionAbstract base class to test whether the collection will accept strings (possibly converting to a value type, or storing directly as string depending on concrete type)
StringInputControlUpon activation, prompts the user for a string and stores it
fmat::SubMatrix< H, W, R >
fmat::SubMatrix_has_more_columns_than_source
fmat::SubMatrix_has_more_rows_than_source
fmat::SubVector< N, R >
fmat::SubVector_is_longer_than_source
KoduInterpreter::PageSwitchActionRunner::SwitchToNewPage
AprilTags::TagFamily::TableInitializerInitializes the static popCountTable
AprilTags::TagDetection
AprilTags::TagDetector
AprilTags::TagFamilyGeneric class for all tag encoding families
TailWagMCA simple motion command for wagging the tail - you can specify period, magnitude, and tilt
TailWagNodeA simple StateNode that executes a TailWagMC motion command
DualCoding::Pilot::LocalizationUtility::TakeInitialPicture
TorqueCalibrate::TakeMeasurementControl
DualCoding::Pilot::LocalizationUtility::TakeNextPicture
DualCoding::LookoutRequestBase::TaskBase class for Lookout tasks; cannot instantiate directly
DualCoding::Pilot::TerminateDueToCollisionTerminate a walk operation and indicate that a collision was responsible
TextMsgEventExtends EventBase to also include actual message text
TextMsgTransFires when a matching string is received
ThreadProvides a nice wrapping of pthreads library
ThreadedMessageQueue< T >Provides a mechanism for exchanging messages between threads
TimeOutTransCauses a transition after a specified amount of time has passed
Profiler::TimerMeasures the time that this class exists, reports result to a profiler
EventRouter::TimerEntryContains all the information needed to maintain a timer by the EventRouter
EventRouter::TimerEntryPtrCmpUsed by STL to sort the timer list in order of activation time
TimerEventAdds a target field to EventBase so listeners can resolve source ID conflict between different behaviors
fmat::fmat_internal::tmemset_pattern< T, W >
fmat::fmat_internal::tmemset_pattern< T, 1 >
ToggleControlSimple control for turning things on and off
Kodu::TokenBase
Kodu::Parser::TokenParser
TorqueCalibrateProvides an interface for making measurements to correlate PID duty cycle and actual force output for each of the motors
LookAtMarkers::TrackMarker
TrackNodeCreates a LookoutTrackRequest trackreq that the user can modify in their doStart() function, then has the Lookout execute the request when doStart() returns
fmat::fmat_internal::transformOps< R1, R2 >Expanded calculations to facilitate optimized compilation of these operations for TransformT
fmat::TransformT< R >Efficient computation of affine transform operations
TransitionRepresents a transition between StateNodes
DualCoding::Pilot::ExecutePlan::TurnPerform a turn step
Turn
DualCoding::Pilot::SetOdometryMachine::TurnHead
unary_function
UnaryShapeRootPred
UnaryShapeRootPred
fmat::fmat_internal::unconst< T >
fmat::fmat_internal::unconst< const bool >
fmat::fmat_internal::unconst< const char >
fmat::fmat_internal::unconst< const double >
fmat::fmat_internal::unconst< const float >
fmat::fmat_internal::unconst< const int >
fmat::fmat_internal::unconst< const long >
fmat::fmat_internal::unconst< const long double >
fmat::fmat_internal::unconst< const short >
fmat::fmat_internal::unconst< const unsigned char >
fmat::fmat_internal::unconst< const unsigned int >
fmat::fmat_internal::unconst< const unsigned long >
fmat::fmat_internal::unconst< const unsigned short >
AprilTags::UnionFindSimpleImplementation of disjoint set data structure using the union-find algorithm
UPennWalkControllerBehaviorListens to control commands coming in from the command port for remotely controlling the walk
UPennWalkMCUses the UPennalizers' 2004 RoboCup code to compute walking gaits
Kodu::KoduState::utterance
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value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
value_conversion
ValueEditControl< T >Allows real-time modification of a value through a pointer
ValueSetControl< T >Upon activation, this control will set the target pointer to the specified value
Grasper::VerifyVerify that object is grasped
Grasper::Verify::VerifyDispatch
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::VerifyObjectInGripper
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper
KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed
KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed
Config::vision_configVision configuration options (this is a *big* section, with sub-sections)
VisionObjectEventExtends EventBase to also include location in the visual field and distance (though distance is not implimented yet)
DualCoding::LookoutRequestBase::VisionObjectTaskUses bult-in object detectors (like pink ball detector) via VisionObjectEvent stream
DualCoding::LookoutRequestBase::VisionRegionTaskUses built-in colored region detectors via Region event stream
DualCoding::LookoutRequestBase::VisionTaskBase class for vision tasks, should not be instantiated
Kodu::VisualBumpDetectionTask
Kodu::VisualGripperMonitorTask
Kodu::VisualLocalizationTask
Kodu::VisualNavErrMonTask
DualCoding::VisualOdometryGeneric visual odometry class; can be used for multiple algorithms
VisualRoutinesBehavior
VisualRoutinesStateNode
DualCoding::Pilot::VisualSearchMachine
VisualTargetCloseTransCauses a transition when a visual object is "close"
VisualTargetTransCauses a transition when a visual object has been seen for at least 6 camera frames
BallDetectionGenerator::VObjectHigh level vision ouput structure for detected objects
KoduInterpreter::GiveActionRunner::PositionBody::Walk
DualCoding::Pilot::ExecutePlan::WalkPerform a travel step by walking forward or backward
DualCoding::Pilot::PushObjectMachine::WalkBackward
WalkCalibrationAllows interactive calibration of a walk engine
WalkControllerListens to control commands coming in from the command port for remotely controlling the walk
WalkEditEditor for the CMPack-based Aibo walk engine
WalkForward
DualCoding::Pilot::PushObjectMachine::WalkForward
DualCoding::Pilot::WalkMachine
DualCoding::Pilot::WalkMachine::WalkMachine_Walker
KoduInterpreter::WalkMonitor
WalkNodeA StateNode for walking using WalkMC
CMPackWalkMC::WalkParamHolds more general parameters about the walk
WalkRequestA request to walk at a specified velocity or for a specific distance, to be used in a SignalTrans
WalkSideways
WalkToTargetNodeState node for walking towards a visual target
WAV
WaypointHolds information about each waypoint, see WaypointEngine for overview
WaypointWalkControl::WaypointEditControlHandles editing of individual waypoints
WaypointEngineProvides computation and management of a desired path through a series of waypoints
WaypointEngineNode< W, mcName, mcDesc >A StateNode for doing a waypoint walk, use the template parameter to specify a custom walk MC, or use the WaypointWalkNode typedef to accept the "default" walk
WaypointList
WaypointWalkControlAllows interactive control and execution of a set of waypoints
DualCoding::Pilot::WaypointWalkMachine
DualCoding::Pilot::WaypointWalkMachine::WaypointWalkMachine_WaypointWalker
WaypointWalkMCCombines a WaypointEngine with a WalkMC so you can walk between a set of waypoints
WheeledWalkMCProvides a 'WalkMC' implementation for wheeled robots (diff-drive or theoretically holonomic configurations as well)
WheeledWalkMC::WheelInfoStores information about the configuration and current target state of each wheel
WirelessTekkotsu wireless class
Config::wireless_configWireless configuration options
WMentryA WMentry is an entry in a WMregistry
WMitem< T >WMitem<T> is a reference to the variable of type T described by the associated WMentry
WMitem_baseWMitem_base is the base class from which all WMitem<T> subclasses are derived
WMMonitorBehaviorListens to wmmonitor control commands coming in from the command port
WMregistryA WMregistry is a namespace; it holds a collection of WMEntry instances describing the variables that live in this registry
WorldStateThe state of the robot and its environment
WorldStateLookupThis class masquerades as a simple WorldState pointer, but actually checks the process ID of the referencing thread to allow each thread group to have a separate WorldState*
WorldStateSerializerBehaviorCopies WorldState into a buffer for transmission over the network
plist::DictionaryBase::WrapValueConversion< PO >This conversion policy accepts any entries of the specified template type, values will be directly wrapped as Primitives so no conversion at all is actually performed
plist::ArrayBase::WrapValueConversion< PO >This conversion policy accepts any entries of the specified template type, values will be directly wrapped as Primitives so no conversion at all is actually performed
XMLLoadSaveXMLLoadSave adds functions for XML format serialization, although if you write binary LoadSave functions as well, you can do either
XWalkEdit
XWalkMCExtreme walk engine handles legged locomotion on hexapods and beyond
XWalkParametersParameters used by XWalkMC to control gait
AprilTags::XYWeightRepresents a triple holding an x value, y value, and weight value
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