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    \[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \] - - - + + + @@ -278,8 +278,6 @@

    - - @@ -289,6 +287,8 @@

    + + @@ -458,12 +458,12 @@

    \[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \] - - - + + + @@ -489,9 +489,6 @@

    - - - @@ -499,6 +496,9 @@

    + + + diff --git a/YarpCameraBridge_8h.html b/YarpCameraBridge_8h.html index 275135227b..ec8cf199fb 100644 --- a/YarpCameraBridge_8h.html +++ b/YarpCameraBridge_8h.html @@ -35,10 +35,10 @@ Versions
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    Classes

    $\mathbb{R}^n$ - - + + - - - + + + . diff --git a/ZeroVelocityStateDynamics_8h.html b/ZeroVelocityStateDynamics_8h.html index d8737ec925..d08fe5c46c 100644 --- a/ZeroVelocityStateDynamics_8h.html +++ b/ZeroVelocityStateDynamics_8h.html @@ -35,10 +35,10 @@ Versions
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    Classes

    $\dot{x} = Ax + Bu$ - - - - - - - + + + + + + + - - - - - - - - - + + + + + + + + + where x is the state and u the control input.
  • class MultiStateWeightProvider MultiStateWeightProvider describes the provider for a constant weight.
    • @@ -266,12 +266,12 @@

    Classes

    $\mathbb{R}^n$ - - + + - - - + + + .
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    Classes

    $\mathbb{R} ^n$ - - + + - - - + + + .
  • class DCMPlanner DCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).
    • diff --git a/classBipedalLocomotion_1_1ContactModels_1_1ContactModel.html b/classBipedalLocomotion_1_1ContactModels_1_1ContactModel.html index dd5ee8de35..85c011f9d4 100644 --- a/classBipedalLocomotion_1_1ContactModels_1_1ContactModel.html +++ b/classBipedalLocomotion_1_1ContactModels_1_1ContactModel.html @@ -35,10 +35,10 @@ Versions
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    Contents

    $f=k(x_0 - x)- b x$ - + diff --git a/classBipedalLocomotion_1_1Contacts_1_1ContactDetector.html b/classBipedalLocomotion_1_1Contacts_1_1ContactDetector.html index ebfd30ef89..6aba21d0a4 100644 --- a/classBipedalLocomotion_1_1Contacts_1_1ContactDetector.html +++ b/classBipedalLocomotion_1_1Contacts_1_1ContactDetector.html @@ -35,10 +35,10 @@ Versions
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  • diff --git a/classBipedalLocomotion_1_1Contacts_1_1ContactList.html b/classBipedalLocomotion_1_1Contacts_1_1ContactList.html index ce36712cc1..6e44064b71 100644 --- a/classBipedalLocomotion_1_1Contacts_1_1ContactList.html +++ b/classBipedalLocomotion_1_1Contacts_1_1ContactList.html @@ -35,10 +35,10 @@ Versions
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  • diff --git a/classBipedalLocomotion_1_1Contacts_1_1ContactPhaseList.html b/classBipedalLocomotion_1_1Contacts_1_1ContactPhaseList.html index e7359d7603..878985401d 100644 --- a/classBipedalLocomotion_1_1Contacts_1_1ContactPhaseList.html +++ b/classBipedalLocomotion_1_1Contacts_1_1ContactPhaseList.html @@ -35,10 +35,10 @@ Versions
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  • diff --git a/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html b/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html index d71f9af2c5..75ecae4893 100644 --- a/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html +++ b/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html @@ -35,10 +35,10 @@ Versions
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  • @@ -112,6 +112,10 @@

    Contents

    + + + + @@ -121,10 +125,6 @@

    Contents

    - - - - @@ -309,13 +309,13 @@

    Contents

    \[ {}^I x_{\text{CoP},i} = {}^I x_{\text{C},i} + {}^I R_{\text{C},i} \; {}^C x_{\text{CoP},i} \] - - + + @@ -467,12 +467,12 @@

    Contents

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    \[ H(s) = \frac{1}{\sqrt{1 + \left(\frac{s}{\omega_c}\right)^{2N}}} \] - + @@ -178,9 +178,9 @@

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    \[ p_k = \omega_c e^{j \frac{\pi}{2} \left(1 + \frac{2k - 1}{2N}\right)} \] - + @@ -263,11 +263,11 @@

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    \[ K = \prod_{k=0}^{N-1} s_k = \omega_c^N \] - + @@ -433,10 +433,10 @@

    Contents

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    $\bar{g}^\top = \begin{bmatrix} g^\top & 0_{1\times3} \end{bmatrix}$ - - + + @@ -346,10 +346,10 @@

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    \[ \ddot{s} = H^{-1} [\tau_{m} - \tau_{F} + (\sum J^T_{FT} f_{FT}) + + (\sum J^T_{ext} f_{ext}) - F^T {}^B \dot v - h ] \] - + diff --git a/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1KinDynWrapper.html b/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1KinDynWrapper.html index 551c7ebb9b..d366a7a939 100644 --- a/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1KinDynWrapper.html +++ b/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1KinDynWrapper.html @@ -35,10 +35,10 @@ Versions
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    \[ A_{cmm_\omega} \nu = {}^{G[A]} h_\omega ^* \] - + @@ -145,10 +145,10 @@

    Contents

    ${}^{G[A]} h_\omega ^*$ - + diff --git a/classBipedalLocomotion_1_1IK_1_1CoMTask.html b/classBipedalLocomotion_1_1IK_1_1CoMTask.html index a7252b4357..37cad2cea6 100644 --- a/classBipedalLocomotion_1_1IK_1_1CoMTask.html +++ b/classBipedalLocomotion_1_1IK_1_1CoMTask.html @@ -35,10 +35,10 @@ Versions
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    \[ \frac{1}{d} p ^ \top J_p \nu = k (d ^ * - d) \] - + diff --git a/classBipedalLocomotion_1_1IK_1_1GravityTask.html b/classBipedalLocomotion_1_1IK_1_1GravityTask.html index ca0494a8e4..5cb3433365 100644 --- a/classBipedalLocomotion_1_1IK_1_1GravityTask.html +++ b/classBipedalLocomotion_1_1IK_1_1GravityTask.html @@ -35,10 +35,10 @@ Versions
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    - - - -     @@ -191,8 +191,8 @@

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    ${} ^ W g ^ *$ - + @@ -254,13 +254,13 @@

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    $ a^\top b = ||a|| ~||b|| \cos(\theta) $ - + @@ -295,13 +295,13 @@

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    \[ \dot{V} = -{}^b\hat{V}^\top{}^w{R}_b^\top S(e_3){}^w\omega. \] - + @@ -622,8 +622,6 @@

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    + +     diff --git a/classBipedalLocomotion_1_1IK_1_1IntegrationBasedIK.html b/classBipedalLocomotion_1_1IK_1_1IntegrationBasedIK.html index ce902a7f33..b85aa9d7bb 100644 --- a/classBipedalLocomotion_1_1IK_1_1IntegrationBasedIK.html +++ b/classBipedalLocomotion_1_1IK_1_1IntegrationBasedIK.html @@ -35,10 +35,10 @@ Versions
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    - - + + @@ -198,12 +198,12 @@

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    \[ \dot{s}_{-} = k_{\text{lim}} \frac{s_{-} - s}{dt} \quad \dot{s}_{+} = k_{\text{lim}} \frac{s_{+} - s}{dt} \] + + - - diff --git a/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html b/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html index 213db31391..c5c440349b 100644 --- a/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html +++ b/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html @@ -35,10 +35,10 @@ Versions
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    \[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \dot{s} ^ * \] - @@ -92,6 +91,7 @@

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    +     diff --git a/classBipedalLocomotion_1_1IK_1_1QPFixedBaseInverseKinematics.html b/classBipedalLocomotion_1_1IK_1_1QPFixedBaseInverseKinematics.html index 13e602c0d8..5ea1fd94e7 100644 --- a/classBipedalLocomotion_1_1IK_1_1QPFixedBaseInverseKinematics.html +++ b/classBipedalLocomotion_1_1IK_1_1QPFixedBaseInverseKinematics.html @@ -35,10 +35,10 @@ Versions
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    \[ J_l \nu = v ^ * \] - + diff --git a/classBipedalLocomotion_1_1IK_1_1SE3Task.html b/classBipedalLocomotion_1_1IK_1_1SE3Task.html index 16c34f9693..d302224c2a 100644 --- a/classBipedalLocomotion_1_1IK_1_1SE3Task.html +++ b/classBipedalLocomotion_1_1IK_1_1SE3Task.html @@ -35,10 +35,10 @@ Versions
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    \[ J_\omega \nu = \omega ^ * \] - + diff --git a/classBipedalLocomotion_1_1ML_1_1MANN.html b/classBipedalLocomotion_1_1ML_1_1MANN.html index 92142f9b34..0a20934f26 100644 --- a/classBipedalLocomotion_1_1ML_1_1MANN.html +++ b/classBipedalLocomotion_1_1ML_1_1MANN.html @@ -35,10 +35,10 @@ Versions
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    Derived classes

    $\mathbb{R}^n$ - - + + - - - + + + .
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    Derived classes

    $\mathbb{R}^n$ - - + + - - - + + + .
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    Derived classes

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    Contents

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    Contents

    \[ \epsilon = \text{log} \left(R_0^\top R_f \right) \] - + + + - - @@ -116,14 +116,14 @@

    Contents

    \[ \epsilon = \text{log} \left(R_f^\top R_0 \right) \] - + + + - - @@ -258,8 +258,8 @@

    ${}^{\mathcal{I}}R_{\mathcal{B}_T}$ - + @@ -327,8 +327,8 @@

    ${}^{\mathcal{I}}R_{\mathcal{B}_T}$ - + diff --git a/classBipedalLocomotion_1_1Planners_1_1SwingFootPlanner.html b/classBipedalLocomotion_1_1Planners_1_1SwingFootPlanner.html index 12f54519cc..92472ca74c 100644 --- a/classBipedalLocomotion_1_1Planners_1_1SwingFootPlanner.html +++ b/classBipedalLocomotion_1_1Planners_1_1SwingFootPlanner.html @@ -35,10 +35,10 @@ Versions
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    Contents

    - - - + + + - - - + + + diff --git a/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html b/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html index b971936b0d..25fd505e18 100644 --- a/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html +++ b/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html @@ -35,10 +35,10 @@ Versions
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    Contents

    \[ M_{b}(q) \dot{\nu} + h_{b}(q,\nu) = \sum J_k^\top f_k \] - + diff --git a/classBipedalLocomotion_1_1TSID_1_1CoMTask.html b/classBipedalLocomotion_1_1TSID_1_1CoMTask.html index 3567e43db5..d360bf4e32 100644 --- a/classBipedalLocomotion_1_1TSID_1_1CoMTask.html +++ b/classBipedalLocomotion_1_1TSID_1_1CoMTask.html @@ -35,10 +35,10 @@ Versions
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    Contents

    \[ M_{s}(q) \dot{\nu} + h_{s}(q,\nu) = \sum J_k^\top f_k + \tau \] - + diff --git a/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html b/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html index 8d9b57fa2c..cae74d01fb 100644 --- a/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html +++ b/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html @@ -35,10 +35,10 @@ Versions
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    Contents

    \[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \ddot{s} ^ * \] - @@ -92,6 +91,7 @@

    Contents

    +     diff --git a/classBipedalLocomotion_1_1TSID_1_1QPFixedBaseTSID.html b/classBipedalLocomotion_1_1TSID_1_1QPFixedBaseTSID.html index bf85d5ad55..142f6a7e2a 100644 --- a/classBipedalLocomotion_1_1TSID_1_1QPFixedBaseTSID.html +++ b/classBipedalLocomotion_1_1TSID_1_1QPFixedBaseTSID.html @@ -35,10 +35,10 @@ Versions
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  • @@ -127,25 +127,18 @@

    Namespaces

    Functions

    -
    - auto clock() -> System::IClock& -
    -
    Get the clock singleton.
    auto log() -> std::shared_ptr<TextLogging::Logger> const
    Get an the instance of the log.
    +
    + auto clock() -> System::IClock& +
    +
    Get the clock singleton.

    Function documentation

    -
    -

    - System::IClock& BipedalLocomotion::clock() -
    #include <BipedalLocomotion/System/Clock.h>
    -

    -

    Get the clock singleton.

    -

    std::shared_ptr<TextLogging::Logger> const BipedalLocomotion::log() @@ -153,6 +146,13 @@

    Get an the instance of the log.

    +
    +

    + System::IClock& BipedalLocomotion::clock() +
    #include <BipedalLocomotion/System/Clock.h>
    +

    +

    Get the clock singleton.

    +
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  • @@ -150,23 +150,23 @@

    Classes

    $\dot{x} = Ax + Bu$ - - - - - - - + + + + + + + - - - - - - - - - + + + + + + + + + where x is the state and u the control input.
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  • @@ -99,12 +99,12 @@

    Classes

    $\mathbb{R}^n$ - - + + - - - + + + .
    @@ -141,12 +141,12 @@

    Classes

    $\mathbb{R}^n$ - - + + - - - + + + .
    @@ -189,12 +189,12 @@

    Classes

    $\mathbb{R}^n$ - - + + - - - + + + . diff --git a/namespaceBipedalLocomotion_1_1ParametersHandler.html b/namespaceBipedalLocomotion_1_1ParametersHandler.html index 4a2571a4b7..144974ccb1 100644 --- a/namespaceBipedalLocomotion_1_1ParametersHandler.html +++ b/namespaceBipedalLocomotion_1_1ParametersHandler.html @@ -35,10 +35,10 @@ Versions
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  • @@ -80,14 +80,14 @@

    Contents

    Classes

    -
    - class YarpImplementation -
    -
    YarpImplementation Yarp implementation of the IParametersHandler interface.
    class TomlImplementation
    TomlImplementation Toml implementation of the IParametersHandler interface.
    +
    + class YarpImplementation +
    +
    YarpImplementation Yarp implementation of the IParametersHandler interface.
    class IParametersHandler
    @@ -103,13 +103,13 @@

    Functions

    template<>
    - void YarpImplementation::setParameterPrivate<std::vector<bool>>(const std::string& parameterName, + void TomlImplementation::setParameterPrivate<std::vector<bool>>(const std::string& parameterName, const std::vector<bool>& parameter)
    Private implementation of setParameter.
    template<>
    - void TomlImplementation::setParameterPrivate<std::vector<bool>>(const std::string& parameterName, + void YarpImplementation::setParameterPrivate<std::vector<bool>>(const std::string& parameterName, const std::vector<bool>& parameter)
    Private implementation of setParameter.
    diff --git a/namespaceBipedalLocomotion_1_1Perception.html b/namespaceBipedalLocomotion_1_1Perception.html index ce637cd3d0..49ae7a9f62 100644 --- a/namespaceBipedalLocomotion_1_1Perception.html +++ b/namespaceBipedalLocomotion_1_1Perception.html @@ -35,10 +35,10 @@ Versions
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  • @@ -97,12 +97,12 @@

    Classes

    $\mathbb{R} ^n$ - - + + - - - + + + .
    diff --git a/namespaceBipedalLocomotion_1_1Planners_1_1UnicycleUtilities.html b/namespaceBipedalLocomotion_1_1Planners_1_1UnicycleUtilities.html index 135e5ba426..60a4e6f71d 100644 --- a/namespaceBipedalLocomotion_1_1Planners_1_1UnicycleUtilities.html +++ b/namespaceBipedalLocomotion_1_1Planners_1_1UnicycleUtilities.html @@ -35,10 +35,10 @@ Versions
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  • diff --git a/namespaceBipedalLocomotion_1_1System.html b/namespaceBipedalLocomotion_1_1System.html index c6b3203fa1..4a1ae5cc03 100644 --- a/namespaceBipedalLocomotion_1_1System.html +++ b/namespaceBipedalLocomotion_1_1System.html @@ -35,10 +35,10 @@ Versions
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  • @@ -89,6 +89,14 @@

    Classes

    class YarpClockFactory
    +
    + class RosClock +
    +
    RosClock implements the IClock interface using ros functions.
    +
    + class RosClockFactory +
    +
    template<class _Input, class _Output>
    class Advanceable @@ -195,14 +203,6 @@

    Classes

    class WeightProviderFactory
    WeightProviderFactory implements the factory design patter for constructing a WeightProvidergiven its type.
    -
    - class RosClock -
    -
    RosClock implements the IClock interface using ros functions.
    -
    - class RosClockFactory -
    -
    diff --git a/namespaceBipedalLocomotion_1_1TSID.html b/namespaceBipedalLocomotion_1_1TSID.html index 8020ab6ec4..0a12a38c55 100644 --- a/namespaceBipedalLocomotion_1_1TSID.html +++ b/namespaceBipedalLocomotion_1_1TSID.html @@ -35,10 +35,10 @@ Versions
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  • diff --git a/namespaceBipedalLocomotion_1_1TextLogging.html b/namespaceBipedalLocomotion_1_1TextLogging.html index 3f65391ca8..6a85bcfefc 100644 --- a/namespaceBipedalLocomotion_1_1TextLogging.html +++ b/namespaceBipedalLocomotion_1_1TextLogging.html @@ -35,10 +35,10 @@ Versions
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  • @@ -94,6 +94,10 @@

    Classes

    class YarpLoggerFactory
    YarpLoggerFactory implements the factory you should use to enable the sink using yaro.
    +
    + class RosLoggerFactory +
    +
    RosLoggerFactory implements the factory you should use to enable the sink using ros.
    class DefaultLoggerFactory
    @@ -106,10 +110,6 @@

    Classes

    class LoggerBuilder
    LoggerBuilder is a class that implements the Builder paradigm.
    -
    - class RosLoggerFactory -
    -
    RosLoggerFactory implements the factory you should use to enable the sink using ros.
    diff --git a/namespaceBipedalLocomotion_1_1TextLogging_1_1sinks.html b/namespaceBipedalLocomotion_1_1TextLogging_1_1sinks.html index 599954fc6f..9c62420b7e 100644 --- a/namespaceBipedalLocomotion_1_1TextLogging_1_1sinks.html +++ b/namespaceBipedalLocomotion_1_1TextLogging_1_1sinks.html @@ -35,10 +35,10 @@ Versions
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  • @@ -80,16 +80,6 @@

    Contents

    Classes

    -
    -
    template<>
    - struct tuple_size<::BipedalLocomotion::TSID::TaskSpaceInverseDynamics> -
    -
    -
    -
    template<size_t Index>
    - struct tuple_element<Index, ::BipedalLocomotion::TSID::TaskSpaceInverseDynamics> -
    -
    template<typename... Params>
    struct tuple_size<::BipedalLocomotion::GenericContainer::named_tuple<Params...>> @@ -100,6 +90,16 @@

    Classes

    struct tuple_element<Index, ::BipedalLocomotion::GenericContainer::named_tuple<Params...>>
    Template specialization to make the elements of the named_tuple accessible with the Structured binding declaration.
    +
    +
    template<>
    + struct tuple_size<::BipedalLocomotion::TSID::TaskSpaceInverseDynamics> +
    +
    +
    +
    template<size_t Index>
    + struct tuple_element<Index, ::BipedalLocomotion::TSID::TaskSpaceInverseDynamics> +
    +
    template<>
    struct tuple_size<::BipedalLocomotion::IK::IntegrationBasedIKProblem> diff --git a/pages.html b/pages.html index e94552b269..35eb482df6 100644 --- a/pages.html +++ b/pages.html @@ -35,10 +35,10 @@ Versions
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