TAO Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

deFrame	Transformation class using quaternion This class consists of a quaternion for rotation and a vector for translation
deLogger	Logger class - printing to various outputs This provides print methods for log
deLoggerOutput	Setup the output
deLoggerOutputFile	Output to a file
deLoggerOutputStd	Output to the standard output
deMassProp	Compute Mass parameters
deMatrix3	3x3 matrix class This is a C++ wrapper class of deMatrix3f
deMatrix6	6x6 matrix class This class consists of four 3x3 matrices
deQuaternion	Quaternion class This is a C++ wrapper class of deQuaternionf
deTransform	Transformation class using rotational matrix This class consists of a matrix for rotation and a vector for translation
deVector3	3x1 vector class This is a C++ wrapper class of deVector3f
deVector6	6x1 vector class This class consists of two 3x1 vectors
taoABDynamics	Articulated body dynamics class This class provides inverse and forward dynamics for articulated body
taoCNode	Contact node class This provides a base node class for other node involving collision
taoControl	Abstract control class This provides an interface class for other control classes
taoControlJt	Joint space control class This provides a joint space dynamics controller
taoDJoint	Abstract joint class for articulated body This class should be used as a base class and implemented accordingly
taoDNode	Abstract node class for articulated body This class should be used as a base class and implemented accordingly
taoDVar	Abstract joint variable class for articulated body This class should be used as a base class and implemented accordingly
taoDynamics	Articulated body dynamics This class provides various dynamics computations for articulated body
taoGroup	Container class to hold dynamics characters A group is a container object for dynamics characters, particle systems, rigid bodies, and articulated bodies. Characters in different groups can not interact, e.g., no collision between characters from two different groups. All characters in a group share common parameters such as integration time step, gravity, etc
taoJCParam	Base joint control parameter class This provides control parameters for joint space dynamics controller
taoJCParamDOF1	1 DOF joint control parameter class This provides a control parameters for 1-DOF joint
taoJCParamPrismatic	Prismatic joint control parameter class This provides a control parameters for prismatic joint
taoJCParamRevolute	Revolute joint control parameter class This provides a control parameters for revolute joint
taoJCParamSpherical	Spherical joint control parameter class This provides a control parameters for spherical joint
taoJoint	Base joint class for articulated body This provides a joint for articulated body dynamics
taoJointDOF1	1 DOF joint class for articulated body This provides a 1-DOF joint for articulated body dynamics
taoJointPrismatic	Prismatic joint class for articulated body This provides a prismatic joint for articulated body dynamics
taoJointRevolute	Revolute joint class for articulated body This provides a revolute joint for articulated body dynamics
taoJointSpherical	Spherical joint class for articulated body This provides a spherical joint for articulated body dynamics
taoJointUser	User defined joint class for articulated body This provides a user defined joint for articulated body dynamics
taoNode	Node class for articulated body dynamics This implements taoDNode for articulated body dynamics
taoNodeRoot	Root node class for articulated body dynamics This implements taoDNode for root node of a articulated body tree structure
taoVarDOF1	1-DOF joint variable class for articulated body This provides joint variables necessary for articulated body dynamics
taoVarSpherical	Spherical joint variable class for articulated body This provides joint variables necessary for articulated body dynamics
taoWorld	Container class to hold dynamics groups. A world is a container object for dynamics groups that, in turn, are container objects themselves holding dynamics characters, particle systems,

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