Class List

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

CActuatedJoint	Abstract class representing an actuated joint in a Robot Class (extending joint). Requires a Drive object through which commands are sent
Cbutton_states	Describes the state of a set of buttons which include a Green, Yellow, Blue and Red. Used within the Buttons class. - Not currently used
CButtons	Buttons class, which represents a set of buttons. - Not currently used
CCO_time_t	Time object, usable for timestamping - Defined in CANOpen code
CCopleyDrive	An implementation of the Drive Object, specifically for Copley-branded devices (currently used on the X2 Exoskeleton)
CdataType_t	Data types structure - Defined in CANOpen Code
CDrive	Abstract class describing a Drive used to communicate with a CANbus device. Note that many functions are implemented according to the CiA 402 Standard (but can be overridden)
CDummyActJoint	Example implementation of the ActuatedJoints class
CDummyTrajectoryGenerator	Example Implementation of TrajectoryGenerator. Includes only two trajectories (Sit-to-Stand and Stand-to-sit) for an Exoskeleton
CEvent	Abstract class for events used as StateMachine triggers to transition between states. Events must be explicitly tied to a current State and state to transition to once the event has been triggered. This is done using a Transition object in a designed StateMachine
CExoRobot	Example implementation of the Robot class, representing an X2 Exoskeleton, using DummyActuatedJoint and DummyTrajectoryGenerator
CExoTestState	Example Implementation of State Class. Used with ExoTestMachine
CInitState	Initialisation State for the ExoTestMachine (implementing ExoTestState)
CInputDevice	Abstract class representing any input device to be used in a Robot object
CJoint	Abstract class representing any joints within a Robot
CKeyboard	Example InputDevice which takes input in from a keyboard. Useful for testing without any other input devices
Ckeys	Struct listing the Keys which exist on a Keyboard
CmotorProfile	Struct to hold desired velocity, acceleration and deceleration values for a drives motor controller profile
Cperiod_info	Task Timer used for the Control Loop
CRobot	Abstract Class representing a robot. Includes vectors of Joint and InputDevice
CSitting	State for the ExoTestMachine (implementing ExoTestState) - representing when the exoskeleton is sitting down (stationary)
CSittingDwn
CStanding	State for the ExoTestMachine (implementing ExoTestState) - representing when the exoskeleton is standing up (stationary)
CStandingUp	State for the ExoTestMachine (implementing ExoTestState) - representing when the exo is standing up (moving)
CState	Abstract class representing a state in a StateMachine
CStateMachine	Abstract class representing a state machine. Includes a number of State and Transition objects
CTrajectoryGenerator	Abstract class which is used to generate trajectorys for a Robot to follow
CTransition	Represents possible transitions linking two State objects with an Event