Here is a list of all files with brief descriptions:

[detail level 1234]

examples
▼ include
▼ robotoc
► constraints
constraint_component_base.hpp
constraint_component_base.hxx
constraint_component_data.hpp
constraints.hpp
constraints_data.hpp
constraints_data.hxx
constraints_impl.hpp
constraints_impl.hxx
contact_wrench_cone.hpp
friction_cone.hpp
impact_constraint_component_base.hpp
impact_constraint_component_base.hxx
impact_friction_cone.hpp
impact_wrench_cone.hpp
joint_acceleration_lower_limit.hpp
joint_acceleration_upper_limit.hpp
joint_position_lower_limit.hpp
joint_position_upper_limit.hpp
joint_torques_lower_limit.hpp
joint_torques_upper_limit.hpp
joint_velocity_lower_limit.hpp
joint_velocity_upper_limit.hpp
pdipm.hpp
pdipm.hxx
► core
direction.hpp
kkt_matrix.hpp
kkt_residual.hpp
performance_index.hpp
solution.hpp
split_direction.hpp
split_direction.hxx
split_kkt_matrix.hpp
split_kkt_matrix.hxx
split_kkt_residual.hpp
split_kkt_residual.hxx
split_solution.hpp
split_solution.hxx
► cost
com_cost.hpp
com_ref_base.hpp
configuration_space_cost.hpp
configuration_space_ref_base.hpp
cost_function.hpp
cost_function_component_base.hpp
cost_function_data.hpp
discrete_time_com_ref.hpp
discrete_time_swing_foot_ref.hpp
foot_trajectory_type.hpp
local_contact_force_cost.hpp
periodic_com_ref.hpp
periodic_swing_foot_ref.hpp
task_space_3d_cost.hpp
task_space_3d_ref_base.hpp
task_space_6d_cost.hpp
task_space_6d_ref_base.hpp
trot_swing_foot_ref.hpp
► dynamics
contact_dynamics.hpp
contact_dynamics_data.hpp
contact_dynamics_data.hxx
impact_dynamics.hpp
impact_state_equation.hpp
state_equation.hpp
state_equation_data.hpp
switching_constraint.hpp
switching_constraint_data.hpp
terminal_state_equation.hpp
unconstr_dynamics.hpp
unconstr_state_equation.hpp
► line_search
line_search.hpp
line_search_filter.hpp
line_search_settings.hpp
unconstr_line_search.hpp
► mpc
biped_walk_foot_step_planner.hpp
contact_planner_base.hpp
control_policy.hpp
crawl_foot_step_planner.hpp
flying_trot_foot_step_planner.hpp
jump_foot_step_planner.hpp
moving_window_filter.hpp
mpc_biped_walk.hpp
mpc_crawl.hpp
mpc_flying_trot.hpp
mpc_jump.hpp
mpc_pace.hpp
mpc_periodic_com_ref.hpp
mpc_periodic_configuration_ref.hpp
mpc_periodic_swing_foot_ref.hpp
mpc_trot.hpp
pace_foot_step_planner.hpp
raibert_heuristic.hpp
trot_foot_step_planner.hpp
► ocp
direct_multiple_shooting.hpp
discretization_method.hpp
grid_info.hpp
impact_stage.hpp
intermediate_stage.hpp
ocp.hpp
ocp_data.hpp
terminal_stage.hpp
time_discretization.hpp
► parnmpc
unconstr_backward_correction.hpp
unconstr_kkt_matrix_inverter.hpp
unconstr_kkt_matrix_inverter.hxx
unconstr_split_backward_correction.hpp
► planner
contact_sequence.hpp
discrete_event.hpp
► riccati
backward_riccati_recursion_factorizer.hpp
lqr_policy.hpp
riccati_factorization.hpp
riccati_factorizer.hpp
riccati_recursion.hpp
split_constrained_riccati_factorization.hpp
split_constrained_riccati_factorization.hxx
split_riccati_factorization.hpp
split_riccati_factorization.hxx
sto_policy.hpp
unconstr_backward_riccati_recursion_factorizer.hpp
unconstr_riccati_factorizer.hpp
unconstr_riccati_recursion.hpp
► robot
contact_model_info.hpp
contact_status.hpp
contact_status.hxx
impact_status.hpp
impact_status.hxx
point_contact.hpp
point_contact.hxx
robot.hpp
robot.hxx
robot_model_info.hpp
robot_properties.hpp
se3.hpp
se3_jacobian_inverse.hpp
se3_jacobian_inverse.hxx
surface_contact.hpp
surface_contact.hxx
► solver
interpolation_order.hpp
ocp_solver.hpp
solution_interpolator.hpp
solver_options.hpp
solver_statistics.hpp
unconstr_ocp_solver.hpp
unconstr_parnmpc_solver.hpp
► sto
sto_constraints.hpp
sto_cost_function.hpp
sto_cost_function_component_base.hpp
switching_time_optimization.hpp
► unconstr
parnmpc_intermediate_stage.hpp
parnmpc_terminal_stage.hpp
unconstr_direct_multiple_shooting.hpp
unconstr_intermediate_stage.hpp
unconstr_ocp_data.hpp
unconstr_terminal_stage.hpp
► utils
aligned_deque.hpp
aligned_unordered_map.hpp
aligned_vector.hpp
derivative_checker.hpp
numerics.hpp
ocp_benchmarker.hpp
ocp_benchmarker.hxx
pybind11_macros.hpp
rotation.hpp
timer.hpp