ArticulatedTree | This class defines a tree of rigid transformation able to represent a body schema |

BodySchema | Class containing all the arm information so that it can be used by the Reaching class This is a virtual class, instanciated by KChainBodySchema |

EmbodiedArticulatedTree | An articulated tree with rendring function for openGL display |

KChainBodySchema | This class is a wrapper for KinematicChain, so that it becomes a BodySchema |

KChainOrientationBodySchema | This class is a wrapper for KinematicChain, so that it becomes a BodySchema |

KinematicChain | This class contains a chain of rigid transformations and ways of adapting it, as well as forward and inverse kinematic functions |

KinematicTree | This class contains and ArticulatedTree and the KinematicChains to adapt it |

Reaching | This class implements the multi-referential VITE reaching algorithm for an arbitary number of degrees of freedom |

ReachingThread | Thread imlementing the reaching controller, to ensure that timing are more or less respected |

RigidTransfo | This class represents a rigid transformation using the Euler parametrization for rotation |

Rotation | This class represents a rotation using some kind of (non-standard) quaternion parametrization of rotation |

Timer | Simple timer class, works in milliseconds |

Translation | Standard translation |

Generated on Wed Sep 22 16:51:26 2010 for Body_Schema_Learning by 1.6.1