Stanford Whole-Body Control Framework Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

opspace::CartPosTask	Cartesian position task
opspace::CartPosTrjTask	Cartesian position trajectory task
opspace::ClassicTaskPostureController
jspace::Controller
opspace::Controller
jspace::controller_info_getter_s	Interface for retrieving custom info (DOF names etc) from controllers
opspace::DraftPIDTask
opspace::Factory	Utility for creating Task and Skill instances based on type names
jspace::FloatController
opspace::GenericSkill
jspace::GoalControllerBase
opspace::IntegerParameter	Implementation for integer parameters: a single int value
jspace::JointGoalController
opspace::JointLimitTask
opspace::JPosTask	Joint-space posture task
opspace::JPosTrjTask	Joint-space posture trajectory task
jspace::jspace_controller_info_getter_s	Default info getter is based on the jspace::Model
tut02::JTask
tut03::JTask
tut04::JTask
opspace::MatrixParameter	Implementation for matrix parameters: a matrix of double values
jspace::Model
opspace::OrientationTask
opspace::Parameter	Abstract base for all (task) parameters
opspace::ParameterLog
opspace::ParameterLog::log_s< parameter_t, storage_t >
opspace::ParameterReflection	Base for classes that reflect (some of) their parameters
opspace::Parser
opspace::PDTask	Base class for tasks with proportional-derivative control
tut05::PTask
opspace::RealParameter	Implementation for real parameters: a single double value
opspace::ReflectionRegistry
opspace::ReflectionRegistry::enumeration_entry_s
jspace::RobotAPI	Abstract API for talking to a robot
opspace::SelectedJointPostureTask	A test task which drives a subset of DOF to zero using non-saturated PD control
opspace::ShopAPI< base_type >
opspace::Skill
opspace::SkillParser
opspace::SkillShop< skill_subtype >
opspace::SkillTableParser
jspace::State
jspace::Status
opspace::StringParameter	Implementation for string parameters: a single std::string value
jspace::tao_node_info_s	Note: TAO supports multiple joints per link, but all use cases so far seem to require that exactly one joint sits between two links, so we treat joint names just as link names until further notice
jspace::tao_tree_info_s
opspace::Task	Partially abstract base class for all operational space tasks
opspace::TaskParser
opspace::TaskPostureSkill
opspace::TaskPostureTrjSkill
opspace::TaskShop< task_subtype >
opspace::TaskSlot< task_subtype >
opspace::TaskSlotAPI
opspace::TaskTableParser
opspace::TrajectoryTask	Base class for acceleration-bounded trajectory tasks
tutsim	Collection of static methods for running the planar tutorial simulator
opspace::TypeIOTGCursor	Utility for using reflexxes_otg::TypeIOTG
opspace::VectorParameter	Implementation for vector parameters: a vector of double values

---