File List

Here is a list of all files with brief descriptions:

ActuatorModel.h	Model of actuator Includes friction, max torque, and motor torque speed curve
BezierCurve.h
BSplineBasic.h
Checkerboard.cpp	3D Plane with Checkerboard Pattern
Checkerboard.h
Cheetah3.h	Utility function to build a Cheetah 3 Quadruped object
Collision.h	Virtual class of Collision logic
CollisionBox.cpp
CollisionBox.h	Collision logic for a box
CollisionMesh.cpp
CollisionMesh.h	Collision logic for a mesh
CollisionPlane.cpp
CollisionPlane.h	Collision logic for an infinite plane
Colors.h	Some colors commonly used in the simulator
ContactConstraint.cpp	ContactConstraint virtual class
ContactConstraint.h	Virtual class of Contact Constraint logic
ContactEstimator.cpp	All Contact Estimation Algorithms
ContactEstimator.h	All Contact Estimation Algorithms
ContactImpulse.cpp
ContactImpulse.h
ContactSpringDamper.cpp
ContactSpringDamper.h	Spring Damper based Contact Computation logic
ControlParameterInterface.cpp
ControlParameterInterface.h	Types to allow remote access of control parameters, for use with LCM/Shared memory
ControlParameters.cpp	Interface to set gains/control parameters for simulator and robot These are designed to be updated infrequently. For high frequency data, consider using Driver Inputs or adding to the Robot Debug Data instead
ControlParameters.h	Interface to set gains/control parameters for simulator and robot These are designed to be updated infrequently. For high frequency data, consider using Driver Inputs or adding to the Robot Debug Data instead
cppTypes.h
cTypes.h	Common types that are only valid in C++
DesiredStateCommand.cpp
DesiredStateCommand.h
DrawList.cpp	Data structure to store robot model to be drawn
DrawList.h	Data structure to store robot model to be drawn
DynamicsSimulator.cpp	Rigid Body Dynamics Simulator with Collisions
DynamicsSimulator.h	Rigid Body Dynamics Simulator with Collisions
filters.cpp
filters.h
FirstOrderIIRFilter.h	A simple first order filter
FloatingBaseModel.cpp	Implementation of Rigid Body Floating Base model data structure
FloatingBaseModel.h	Implementation of Rigid Body Floating Base model data structure
FootSwingTrajectory.cpp
FootSwingTrajectory.h
GaitScheduler.cpp
GaitScheduler.h
GameController.cpp	Code to read the Logitech F310 Game Controller Creates a DriverCommand object to be sent to the robot controller Used in the development simulator and in the robot control mode
GameController.h	Code to read the Logitech F310 Game Controller Creates a DriverCommand object to be sent to the robot controller Used in the development simulator and in the robot control mode
GamepadCommand.h	The GamepadCommand type containing joystick information
Graphics3D.cpp	Visualizer window for simulator
Graphics3D.h	Visualizer window for simulator
HardwareBridge.cpp
HardwareBridge.h	Interface between robot code and robot hardware
HardwareInterface.cpp
ImuSimulator.cpp
ImuSimulator.h	Simulated IMU
IMUTypes.h	Data from IMUs
Interpolation.h	Utility functions to interpolate between two values
JPosInitializer.cpp
JPosInitializer.h
LegController.cpp	Common Leg Control Interface
LegController.h	Common Leg Control Interface and Leg Control Algorithms
main.cpp	Main Function for the robot program
main_helper.cpp
main_helper.h
MathUtilities.h	Utility functions for math
MiniCheetah.h	Utility function to build a Mini Cheetah Quadruped object
obj_loader.cpp	Utility to load .obj files, containing 3D models of robots
obj_loader.h	Utility to load .obj files, containing 3D models of robots
orientation_tools.h	Utility functions for 3D rotations
OrientationEstimator.cpp
OrientationEstimator.h	All Orientation Estimation Algorithms
PeriodicTask.cpp	Implementation of a periodic function running in a separate thread. Periodic tasks have a task manager, which measure how long they take to run
PeriodicTask.h	Implementation of a periodic function running in a separate thread. Periodic tasks have a task manager, which measure how long they take to run
plot_curve.py
plot_spline.py
plot_spline_1d.py
plot_spline_opt.py
PositionVelocityEstimator.cpp
PositionVelocityEstimator.h	All State Estimation Algorithms
pseudoInverse.h
Quadruped.cpp	Data structure containing parameters for quadruped robot
Quadruped.h	Data structure containing parameters for quadruped robot
RobotController.h
RobotInterface.cpp
RobotInterface.h	Interface between simulator and hardware using LCM
RobotParameters.h
RobotRunner.cpp
RobotRunner.h	Common framework for running robot controllers. This code is a common interface between control code and hardware/simulation for mini cheetah and cheetah 3
rt_interface_lcm.cpp
rt_interface_lcm.h
rt_sbus.c
rt_sbus.cpp
rt_sbus.h
rt_serial.c
rt_serial.cpp
rt_serial.h
rt_spi.cpp
rt_spi.h
rt_spi_lcm.cpp
rt_spi_lcm.h
rt_vectornav.cpp
rt_vectornav.h
save_file.cpp
save_file.h
SegfaultHandler.cpp
SegfaultHandler.h
SharedMemory.h	Shared memory utilities for connecting the simulator program to the robot program
sim_utilities.cpp	Utility functions that exist only in the simulator
sim_utilities.h	Utility functions that exist only in the simulator
SimControlPanel.cpp
SimControlPanel.h	QT gui for the simulator
Simulation.cpp
Simulation.h	Main simulation class
SimulationBridge.cpp
SimulationBridge.h
SimulatorMessage.h	Messages sent to/from the development simulator
SimulatorParameters.h
spatial.h	Utility functions for manipulating spatial quantities
SpatialInertia.h	Class representing spatial inertia tensors
SpineBoard.cpp	Spine Board Code, used to simulate the SpineBoard
SpineBoard.h	Spine Board Code, used to simulate the SpineBoard
StateEstimatorContainer.h
test_actuatorModel.cpp	Test the actuator model of the mini cheetah and cheetah 3 robots
test_casadi.cpp
test_cheetah3_model.cpp
test_ControlParameters.cpp
test_dynamics.cpp	Test dynamics algorithms
test_filters.cpp	Test filter functions
test_footswing.cpp
test_goldfarb.cpp
test_ImuSimulator.cpp
test_JCQP.cpp
test_LegController.cpp
test_math.cpp	Test math functions
test_mini_cheetah_model.cpp
test_orientation_tools.cpp	Test orientation functions
test_osqp.cpp
test_periodic_tasks.cpp
test_sharedMemory.cpp
test_spatial.cpp	Test spatial vector/transform maniuplation functions
test_spline.cpp
test_utilities.cpp	Test Utilities functions
test_yaml.cpp
ti_boardcontrol.cpp
ti_boardcontrol.h
Timer.h	Timer for measuring how long things take
Types.h
utilities.cpp
utilities.h
Utilities_print.cpp
Utilities_print.h
VisualizationData.h