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

[detail level 12]

▼Nterrain_estimator
CHistogram	Creates a Histogram for measured values All value beneath min value are grouped in the first bin All values above max_value are grouped in the last bin
CHistogramTerrainClassification	A list of the last N histograms of traction values are combined into a single histogram
CLegWheelOdometry	Using asguard model it calculates the translation of each axis in the plane paralel to the ground This model assumes flat ground. With lowest feet contact point. This code should later be integrated into asguard odometry
CSlipDetectionModelBased	Estimates slip using the vehicle model constrains
CStep
CSVMConfiguration
CSVMTerrainClassification	A batch of SVM function is used to classify the histogram
CTerrainClassification
CTerrainProbability
CTractionForceGroupedIntoStep	Groups traction force measurement into a vector corresponding to a step A step is caracterize by the transition, double contact to single contact to double contact This class stores only the information of the previous completed step and a undergoing uncompleted Step