plugins.xml

<library path="libmuse_armcl_lib">
   <!-- Mesh Map Loader -->
   <class type="muse_armcl::MeshMapLoader" base_class_type="muse_armcl::MeshMapProvider">
     <description>Provides mesh map, looks up transformations between links at each step.</description>
   </class>
   <class type="muse_armcl::MeshMapLoaderOffline" base_class_type="muse_armcl::MeshMapProvider">
     <description>Provides mesh map, looks up transformations between links at each step.</description>
   </class>

   <!-- Sampling -->
   <class type="muse_armcl::Normal" base_class_type="muse_armcl::NormalSampling">
     <description>Implements normal sampling.</description>
   </class>
   <class type="muse_armcl::UniformAllLinks" base_class_type="muse_armcl::UniformSampling">
     <description>Implements uniform sampling on all maps and links.</description>
   </class>
   <class type="muse_armcl::UniformPerLink" base_class_type="muse_armcl::UniformSampling">
     <description>Implements uniform sampling per link, same amount of particles on each link.</description>
   </class>

   <!-- Resampling -->
   <class type="muse_armcl::KLD" base_class_type="muse_armcl::Resampling">
     <description>Implements KLD resampling.</description>
   </class>
   <class type="muse_armcl::KLDRandom" base_class_type="muse_armcl::Resampling">
     <description>Implements KLD resampling plus uniform sampling.</description>
   </class>
   <class type="muse_armcl::SIR" base_class_type="muse_armcl::Resampling">
     <description>Implements SIR resampling.</description>
   </class>
   <class type="muse_armcl::Residual" base_class_type="muse_armcl::Resampling">
     <description>Implements Residual resampling.</description>
   </class>
   <class type="muse_armcl::Stratified" base_class_type="muse_armcl::Resampling">
     <description>Implements Stratified resampling.</description>
   </class>
   <class type="muse_armcl::Systematic" base_class_type="muse_armcl::Resampling">
     <description>Implements Systematic resampling.</description>
   </class>
   <class type="muse_armcl::WheelOfFortune" base_class_type="muse_armcl::Resampling">
     <description>Implements WheelOfFortune resampling.</description>
   </class>

   <!-- Scheduling -->
   <class type="muse_armcl::Rate" base_class_type="muse_armcl::Scheduler">
     <description>Implements Rate scheduling.</description>
   </class>
   <class type="muse_armcl::CFS" base_class_type="muse_armcl::Scheduler">
     <description>Implements CFS scheduling.</description>
   </class>
   <class type="muse_armcl::Dummy" base_class_type="muse_armcl::Scheduler">
     <description>Implements Dummy scheduling, always allows resampling.</description>
   </class>
   <class type="muse_armcl::IntegrateAll" base_class_type="muse_armcl::Scheduler">
     <description>Integrates all data for offline evaluation, always allows resampling.</description>
   </class>

   <!-- Density -->
   <class type="muse_armcl::Dominants" base_class_type="muse_armcl::SampleDensity">
     <description>Implements density estimation, where the most dominant particle is estimated per cluster.</description>
   </class>
   <class type="muse_armcl::Means" base_class_type="muse_armcl::SampleDensity">
     <description>Implements density estimation, where the particle closest to the mean is estimated per cluster.</description>
   </class>
   <class type="muse_armcl::WeightedMeans" base_class_type="muse_armcl::SampleDensity">
     <description>Implements density estimation, where the particle closest to the weighted mean is estimated per cluster.</description>
   </class>
   <class type="muse_armcl::NearestNeighborDensity" base_class_type="muse_armcl::SampleDensity">
     <description>Clustering on the surface of directly.</description>
   </class>
   <class type="muse_armcl::ContactPointHistogram" base_class_type="muse_armcl::SampleDensity">
     <description>Histogram clustering sorts particles into discrete bins per joint.</description>
   </class>
   <class type="muse_armcl::ContactPointHistogramMin" base_class_type="muse_armcl::SampleDensity">
     <description>Histogram clustering sorts particles into discrete by optimizing distance and orientation.</description>
   </class>


   <!-- Data Providers -->
   <class type="muse_armcl::JointStateProvider" base_class_type="cslibs_plugins_data::DataProvider">
     <description>Provides joint states.</description>
   </class>

   <!-- Prediction Models -->
   <class type="muse_armcl::RandomWalk" base_class_type="muse_armcl::PredictionModel">
     <description>Prediction via random walk.</description>
   </class>

   <!-- Update Models -->
   <class type="muse_armcl::DummyUpdateModel" base_class_type="muse_armcl::UpdateModel">
     <description>Dummy update model, doesn't do anything, only for demonstration.</description>
   </class>
   <class type="muse_armcl::NormalizedUpdateModel" base_class_type="muse_armcl::UpdateModel">
     <description>Minimizes the orientation between the nD residual vector.</description>
   </class>
   <class type="muse_armcl::NormalizedConeUpdateModel" base_class_type="muse_armcl::UpdateModel">
     <description>Minimizes the orientation between the nD residual vector using also foces differing from mesh normals.</description>
   </class>
</library>