This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 123]

Crobotoc::BackwardRiccatiRecursionFactorizer	Factorizer of the backward Riccati recursion
►Crobotoc::CoMRefBase	Base class of reference position of the center of mass (CoM)
Crobotoc::DiscreteTimeCoMRef	Discrete-time reference of the center of mass
Crobotoc::MPCPeriodicCoMRef	Periodic reference positions of the center of mass
Crobotoc::PeriodicCoMRef	Periodic reference of the center of mass
►Crobotoc::ConfigurationSpaceRefBase	Base class of the configuration
Crobotoc::MPCPeriodicConfigurationRef	Periodic reference configuration for MPC of legged robots
Crobotoc::ConstraintComponentData	Data used in constraint components. Composed by slack, dual (Lagrange multiplier), primal residual, complementary slackness between the slack and dual, and directions of slack and dual
Crobotoc::Constraints	Stack of the inequality constraints. Composed by constraint components that inherits ConstraintComponentBase or ImpactConstraintComponentBase
Crobotoc::ConstraintsData	Data for constraints. Composed of ConstraintComponentData corrensponding to the components of Constraints
Crobotoc::ContactDynamicsData	Data used in ContactDynamics
Crobotoc::ContactModelInfo	Info of a contact model
►Crobotoc::ContactPlannerBase	Base interface of contact planners
Crobotoc::BipedWalkFootStepPlanner	Foot step planner for the biped robot walk
Crobotoc::CrawlFootStepPlanner	Foot step planner for the crawl gait of quadrupeds
Crobotoc::FlyingTrotFootStepPlanner	Foot step planner for the flying trot gait of quadrupeds
Crobotoc::JumpFootStepPlanner	Foot step planner for the jump motion
Crobotoc::PaceFootStepPlanner	Foot step planner for the pace gait of quadrupeds
Crobotoc::TrotFootStepPlanner	Foot step planner for the trot gait of quadrupeds
Crobotoc::ContactSequence	The sequence of contact status and discrete events (impact and lift)
Crobotoc::ContactStatus	Contact status of robot model
Crobotoc::ControlPolicy	Control pocily constructed for the MPC solution
Crobotoc::CostFunction	Stack of the cost function. Composed by cost function components that inherits CostFunctionComponentBase
Crobotoc::CostFunctionData	Composed of data used to compute the cost function and its derivatives
Crobotoc::DerivativeChecker
Crobotoc::DirectMultipleShooting	Direct multiple shooting method of the optimal control problems
Crobotoc::DiscreteEvent	Discrete event composed by impact and lift
►Cstd::enable_shared_from_this
►Crobotoc::ConstraintComponentBase	Base class for constraint components
Crobotoc::ContactWrenchCone	Constraint on the contact wrench cone for surface contacts
Crobotoc::FrictionCone	Constraint on the inner-approximated firction cone
Crobotoc::JointAccelerationLowerLimit	Constraint on the lower limits of the joint acceleration
Crobotoc::JointAccelerationUpperLimit	Constraint on the upper limits of the joint acceleration
Crobotoc::JointPositionLowerLimit	Constraint on the lower limits of the joint position
Crobotoc::JointPositionUpperLimit	Constraint on the upper limits of the joint position
Crobotoc::JointTorquesLowerLimit	Constraint on the lower limits of the joint torques
Crobotoc::JointTorquesUpperLimit	Constraint on the upper limits of the joint torques
Crobotoc::JointVelocityLowerLimit	Constraint on the lower limits of the joint velocity
Crobotoc::JointVelocityUpperLimit	Constraint on the upper limits of the joint velocity
►Crobotoc::CostFunctionComponentBase	Base class of components of cost function
Crobotoc::CoMCost	Cost on the position of the center of mass
Crobotoc::ConfigurationSpaceCost	Configuration space cost
Crobotoc::LocalContactForceCost	Cost on the contact forces expressed in the local frames
Crobotoc::TaskSpace3DCost	Cost on the task space position
Crobotoc::TaskSpace6DCost	Cost on the task space placement (SE(3))
►Crobotoc::ImpactConstraintComponentBase	Base class for impact constraint components
Crobotoc::ImpactFrictionCone	Constraint on the inner-approximated impact firction cone
Crobotoc::ImpactWrenchCone	Constraint on the wrench firction cone for surface contacts
Crobotoc::STOCostFunctionComponentBase	Base class of components of the cost function of the switching time optimization (STO) problem
Crobotoc::GridInfo	Grid information
Crobotoc::ImpactStage	Impact stage computations for optimal control problems
Crobotoc::ImpactStatus	Impact status of robot model. Wrapper of ContactStatus to treat impacts
Crobotoc::IntermediateStage	Intermediate stage computations for optimal control problems
Crobotoc::LineSearch	Line search for optimal control problems
Crobotoc::LineSearchFilter	Filter of the line search
Crobotoc::LineSearchSettings	Settings for the line search
Crobotoc::LQRPolicy	The state feedback and feedforward policy of LQR subproblem at a time stage
Crobotoc::MovingWindowFilter< dim >	Moving window filter for foot step planning
Crobotoc::MovingWindowFilter< 2 >
Crobotoc::MPCBipedWalk	MPC solver for the bipedal robot walk
Crobotoc::MPCCrawl	MPC solver for the crawl gait of quadrupeds
Crobotoc::MPCFlyingTrot	MPC solver for the trot gait of quadrupeds
Crobotoc::MPCJump	MPC solver for the jump control
Crobotoc::MPCPace	MPC solver for the pace gait of quadrupeds
Crobotoc::MPCTrot	MPC solver for the trot gait of quadrupeds
Crobotoc::OCP	The optimal control problem
Crobotoc::OCPData	A data structure for an optimal control problem
Crobotoc::OCPSolver	Optimal control problem solver by Riccati recursion
Crobotoc::ParNMPCIntermediateStage	The intermediate stage of ParNMPC for unconstrained rigid-body systems
Crobotoc::ParNMPCTerminalStage	The terminal stage of ParNMPC for unconstrained rigid-body systems
Crobotoc::PerformanceIndex	Performance index of optimal control problems
Crobotoc::PointContact	Kinematics and dynamic model of a point contact
Crobotoc::RaibertHeuristic	Raibert heuristic for foot step planning
Crobotoc::RiccatiFactorizer	Riccati factorizer
Crobotoc::RiccatiRecursion	Riccati recursion solver for optimal control problems. Solves the KKT system in linear time complexity w.r.t. the length of the horizon
Crobotoc::Robot	Dynamics and kinematics model of robots. Wraps pinocchio::Model and pinocchio::Data. Includes contacts
Crobotoc::RobotModelInfo	Info of a robot model
Crobotoc::RobotProperties	Collection of the robot properties, which can change after constructing robot models
Crobotoc::SE3JacobianInverse	A class that computes the inverse of the Jacobian of SE(3)
Crobotoc::SolutionInterpolator	Solution interpolator
Crobotoc::SolverOptions	Options of optimal control solvers
Crobotoc::SolverStatistics	Statistics of optimal control solvers
Crobotoc::SplitConstrainedRiccatiFactorization	Riccati factorization matrix and vector for the switching constraint
Crobotoc::SplitDirection	Newton direction of the solution to the optimal control problem split into a time stage
Crobotoc::SplitKKTMatrix	The KKT matrix split into a time stage
Crobotoc::SplitKKTResidual	KKT residual split into each time stage
Crobotoc::SplitRiccatiFactorization	Riccati factorization matrix and vector for a time stage
Crobotoc::SplitSolution	Solution to the optimal control problem split into a time stage
Crobotoc::StateEquationData	Data for the state equations
Crobotoc::STOConstraints	Constraints of the switching time optimization problems
Crobotoc::STOCostFunction	Stack of the cost function of the switching time optimization (STO) problem. Composed by cost function components that inherits STOCostFunctionComponentBase
Crobotoc::STOPolicy	The state feedback and feedforward policy of the switching time optimization (STO)
Crobotoc::SurfaceContact	Kinematics and dynamic model of a surface contact
►CSwingFootRefBase
Crobotoc::TrotSwingFootRef	Periodic reference of the foot position
Crobotoc::SwitchingConstraintData	Data for the switching constraint
Crobotoc::SwitchingTimeOptimization	The switching time optimization (STO) problem
►Crobotoc::TaskSpace3DRefBase	Base class of reference task space position
Crobotoc::DiscreteTimeSwingFootRef	Discrete-time reference of the positions of swinging contact frames
Crobotoc::MPCPeriodicSwingFootRef	Periodic reference of the foot position
Crobotoc::PeriodicSwingFootRef	Periodic reference of the swing foot position
Crobotoc::TaskSpace6DRefBase	Base class of reference task space placement (position and orientation)
Crobotoc::TerminalStage	Terminal stage computations for optimal control problems
Crobotoc::TimeDiscretization	Time discretization of the optimal control problem
Crobotoc::Timer	A timer class to take benchmarks
Crobotoc::UnconstrBackwardCorrection	Backward correction for optimal control problems of unconstrained rigid-body systems
Crobotoc::UnconstrBackwardRiccatiRecursionFactorizer	Factorizer of the backward Riccati recursion of a time stage
Crobotoc::UnconstrDirectMultipleShooting	Direct multiple shooting method of optimal control problems of unconstrained rigid-body systems
Crobotoc::UnconstrDynamics	Inverse dynamics constraint without constraints (floating base or contacts)
Crobotoc::UnconstrIntermediateStage	The intermediate stage of OCP computation for unconstrained rigid-body systems
Crobotoc::UnconstrKKTMatrixInverter	Schur complement for SplitKKTMatrix for UnconstrParNMPC
Crobotoc::UnconstrLineSearch	Line search for optimal control problems for unconstrained rigid-body systems
Crobotoc::UnconstrOCPData	Data structure for the optimal control problem of unconstrained rigid-body systems
Crobotoc::UnconstrOCPSolver	Optimal control problem solver of unconstrained rigid-body systems by Riccati recursion. "Unconstrained" means that the system does not have either a floating base or any contacts
Crobotoc::UnconstrParNMPCSolver	Optimal control problem solver of unconstrained rigid-body systems by ParNMPC algorithm. "Unconstrained" means that the system does not have either a floating base or any contacts
Crobotoc::UnconstrRiccatiFactorizer	Riccati factorizer for a time stage
Crobotoc::UnconstrRiccatiRecursion	Riccati recursion solver for optimal control problems of unconstrained rigid-body systems
Crobotoc::UnconstrSplitBackwardCorrection	Split backward correction
Crobotoc::UnconstrTerminalStage