ark

Enums

• SimObstacle2Type

Typedefs

Defined in “ark/geometry/forward.hh”:

• using Transform2f = Transform2< float >

• using Transform2d = Transform2< double >

• using Transform3f = Transform3< float >

• using Transform3d = Transform3< double >

Classes

• ark::AdafruitPca9685
  Interface for the Adafruit PCA 9685 PWM board.

  This is a refactored version of the provided arduino driver software.

• ark::AdafruitPlugin
  Plugin for testing Adafruit device input/output.

• ark::AdafruitStage
  Stage intended for testing purposes only to send/receive messages from Adafruit device.

• ark::CrlCalibrationTransformPublisherStage

• ark::KdlTransformProvider

• ark::LoggedCrlCalibrationTransformPublisherStage

• ark::Transform2

• ark::Transform3

• ark::TransformNetwork

• ark::TransformNetworkSubscriber
  Helper class to make setting up a transform network listener in an ark stage.

• ark::TransformPublisher

• ark::TransformPublisherStage

• ark::UrdfTransformPublisherStage

• ark::AdafruitChannelState
  State information to store for each channel.

• ark::SimLidar2

• ark::SimObstacle2

• ark::SimWorld2

• ark::TransformNetworkConfig

• ark::TransformNetworkSubscriberConfig

Functions

Declared in “ark/calibration/crl/loader.hh”:

• CrlCalibration load_crl_calibration(const std::filesystem::path & path)

• Transform3d to_parent_from_frame(const CrlExtrinsicsCalibration & extrinsics)

• void populate_transform_network(TransformNetwork & tf, const CrlCalibration & calibration)

Declared in “ark/geometry/transform.hh”:

• Transform2f operator*(const Transform2f & lhs, const Transform2f & rhs)

• Transform2d operator*(const Transform2d & lhs, const Transform2d & rhs)

• std::ostream & operator«(std::ostream & os, const Transform2f & dst_from_src)

• std::ostream & operator«(std::ostream & os, const Transform2d & dst_from_src)

• Transform3f operator*(const Transform3f & lhs, const Transform3f & rhs)

• Transform3d operator*(const Transform3d & lhs, const Transform3d & rhs)

• Eigen::Matrix3Xf operator*(const Transform3f & lhs, const Eigen::Matrix3Xf & rhs)

• Eigen::Matrix3Xd operator*(const Transform3d & lhs, const Eigen::Matrix3Xd & rhs)

• Transform3f interpolate(const Transform3f & start, const Transform3f & end, float t)
  Interpolate between the two transformations.

• Transform3d interpolate(const Transform3d & start, const Transform3d & end, double t)

• std::ostream & operator«(std::ostream & os, const Transform3f & dst_from_src)

• std::ostream & operator«(std::ostream & os, const Transform3d & dst_from_src)

• Eigen::Matrix2Xf operator*(const Transform2f & lhs, const Eigen::Matrix2Xf & rhs)

• Eigen::Matrix2Xd operator*(const Transform2d & lhs, const Eigen::Matrix2Xd & rhs)

Declared in “ark/simulation/sim_world2.hh”:

• std::vector< double > simulate_lidar2(const SimWorld2 & world, const Transform3d & world_from_lidar, const SimLidar2 & lidar)

Declared in “ark/simulation/visualization.hh”:

• gui::RendererLayer to_gui_layer(const std::string & frame_id, const SimWorld2 & world)

• gui::RendererLayer to_gui_layer(const std::string & name, const Transform3d & world_from_lidar, const SimLidar2 & lidar, const std::vector< double > & returns)

Declared in “ark/vehicle/state.hh”:

• double compute_slip_angle(const VehicleParams & params, double front_wheel_angle_radians)
  Compute the slip angle at the vehicle center of gravity given the front wheel angle.

• VehicleState bicycle_forward_propogate(const VehicleParams & params, std::chrono::nanoseconds dt, VehicleState state, VehicleControlState control)
  Forward propogate the vehicle state based on the given control inputs.

• TrajectoryPoint get_bicycle_trajectory_point(const VehicleParams & params, const Trajectory & trajectory, std::chrono::steady_clock::time_point timestamp)
  Get the trajectory point for the given timestamp.

• VehicleState tricycle_forward_propogate(const VehicleParams & params, std::chrono::nanoseconds dt, VehicleState state, VehicleControlState control)
  Forward propogate the tricycle vehicle state based on the given control inputs.

• TrajectoryPoint get_tricycle_trajectory_point(const VehicleParams & params, const Trajectory & trajectory, std::chrono::steady_clock::time_point timestamp)
  Get the trajectory point for the given timestamp.