ORCA: Optimization-based framework for Robotic Control Applications
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orca
orca.h
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//| This file is a part of the ORCA framework.
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//|
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//| Copyright 2018, Fuzzy Logic Robotics
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//| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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//|
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//| Main contributor(s): Antoine Hoarau, Ryan Lober, and
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//| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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//|
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//| ORCA is a whole-body reactive controller framework for robotics.
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//|
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//| This software is governed by the CeCILL-C license under French law and
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//| abiding by the rules of distribution of free software. You can use,
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//| modify and/ or redistribute the software under the terms of the CeCILL-C
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//| license as circulated by CEA, CNRS and INRIA at the following URL
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//| "http://www.cecill.info".
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//|
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//| As a counterpart to the access to the source code and rights to copy,
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//| modify and redistribute granted by the license, users are provided only
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//| with a limited warranty and the software's author, the holder of the
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//| economic rights, and the successive licensors have only limited
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//| liability.
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//|
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//| In this respect, the user's attention is drawn to the risks associated
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//| with loading, using, modifying and/or developing or reproducing the
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//| software by the user in light of its specific status of free software,
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//| that may mean that it is complicated to manipulate, and that also
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//| therefore means that it is reserved for developers and experienced
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//| professionals having in-depth computer knowledge. Users are therefore
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//| encouraged to load and test the software's suitability as regards their
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//| requirements in conditions enabling the security of their systems and/or
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//| data to be ensured and, more generally, to use and operate it in the
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//| same conditions as regards security.
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//|
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//| The fact that you are presently reading this means that you have had
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//| knowledge of the CeCILL-C license and that you accept its terms.
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#pragma once
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#include "
orca/utils/Utils.h
"
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#include "
orca/robot/RobotModel.h
"
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#include "
orca/math/Utils.h
"
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#include "
orca/common/CartesianAccelerationPID.h
"
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#include "
orca/common/PIDController.h
"
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#include "
orca/common/Wrench.h
"
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#include "
orca/common/ReturnCode.h
"
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#include "
orca/common/Mutex.h
"
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#include "
orca/constraint/DynamicsEquationConstraint.h
"
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#include "
orca/constraint/Contact.h
"
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#include "
orca/constraint/JointLimitConstraint.h
"
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#include "
orca/constraint/JointPositionLimitConstraint.h
"
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#include "
orca/constraint/JointVelocityLimitConstraint.h
"
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#include "
orca/constraint/JointAccelerationLimitConstraint.h
"
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#include "
orca/constraint/JointTorqueLimitConstraint.h
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#include "
orca/optim/Controller.h
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#include "
orca/task/CartesianTask.h
"
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#include "
orca/task/JointTorqueTask.h
"
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#include "
orca/task/JointAccelerationTask.h
"
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#include "
orca/task/RegularisationTask.h
"
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#include "
orca/task/WrenchTask.h
"
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namespace
orca
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{
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namespace
all
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{
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using namespace
common;
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using namespace
optim;
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using namespace
task;
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using namespace
constraint;
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using namespace
robot;
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using namespace
math;
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using namespace
utils;
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}
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}
DynamicsEquationConstraint.h
ReturnCode.h
JointLimitConstraint.h
Contact.h
JointAccelerationTask.h
JointPositionLimitConstraint.h
JointVelocityLimitConstraint.h
CartesianAccelerationPID.h
Utils.h
Mutex.h
JointTorqueLimitConstraint.h
JointAccelerationLimitConstraint.h
Controller.h
RegularisationTask.h
orca
Definition:
CartesianAccelerationPID.h:44
Utils.h
PIDController.h
JointTorqueTask.h
CartesianTask.h
WrenchTask.h
Wrench.h
RobotModel.h
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