Table of Contents

General stuff

• Darwin2K Darwin2K: A toolkit for robot simulation and synthesis.
• Math classes mathClasses.h - Classes and routines for matrices, vectors, quaternions, and the like.
• Modules modules.h: Header file for core Darwin2K module classes.
• Quick Tour
• Terrain classes terrain.h - classes for terrain objects
• componentDB.h Class definitions for components and the componentDB
• configuration.h Class declarations for modules, configurations, and related classes.
• ddglobals.h Miscellaneous globals shared between dyno and darwin2k.
• dyno.h Core classes for the dyno library.
• dynoAux.h Miscellaneous utility functions for dyno.
• dynoCollision.h Header file for classes relating to contact and collision detection
• dynoConstraint.h Class definitions for dynamic constraints.
• dynoGeometry.h Convenience functions for creating link geometry.
• dynoInfluence.h Header file for influence and dynoLimiter classes.
• dynoSolver.h Class definition for the dynoSolver class.
• dynoSvals.h s-val classes and operators
• dynoUser.h Header file for dyno core libraries.
• images.h Functions for reading and writing images
• linkForce.h Functions and classes for computing link deformations and stressess
• path.h Trajectory classes
• synMacros.h Macros for runtime synObject typing.
• synObject.h Header file for the synObject core class
• systemIncs.h System-specific headers, and useful constants and macros

Classes

• cfgComponent cfgComponent - runtime objects that are created by d2kComponents or modules.
• cfgLabelRecord A class used by d2kComponent to associate configurations with configuration arguments
• controller controller - abstract base class for robot controllers.
• cptrList cptrList - similar to ptrList, but for const void *'s
• d2kComponent base class for modular simulation components.
• d2kSimulator base class for robot simulation and evaluation.
• evaluator base class for robot simulation and evaluation.
• ffController an SRI-based controller for robots with free-flying, unactuated bases.
• jointController A controller allowing different control modes for each joint.
• objHash hash table for associating data with synObjects
• objHashRec container class for use by objHash
• paramEnv Environment containing parameter values.
• paramParser parser for C-like parameter files, or 'p-files'.
• pathEvaluator evaluator for tasks consisting of a series of cartesian-space end-effector trajectories.
• payload A class for single-rigid-body payloads.
• pidController a controller for doing joint-space PID control.
• ptrHash a generic hash table class
• ptrList generic extensible list class.
• roverController A controller for wheeled rovers.
• roverEvaluator Class for evaluating rover performance on a variety of terrain test cases.
• singleJointController a controller for a single joint.
• sriController a robot controller that uses the singularity robust inverse (SRI) of the jacobian to follow cartesian-space trajectories.
• taskParamRecord a record for storing task parameters.

Functions

• readMPolyList reads a list of mpoly from the indicated file pointer.

Enums, Unions, Structs

• d2kCtrlStatus status values for controllers.

Hierarchy of classes