Namespace List

Here is a list of all namespaces with brief descriptions:

[detail level 12]

►Nrobotoc
Nbenchmark
Nconstraintsimpl
Nnumerics
Npdipm
Nrotation
CBackwardRiccatiRecursionFactorizer	Factorizer of the backward Riccati recursion
CBipedWalkFootStepPlanner	Foot step planner for the biped robot walk
CCoMCost	Cost on the position of the center of mass
CCoMRefBase	Base class of reference position of the center of mass (CoM)
CConfigurationSpaceCost	Configuration space cost
CConfigurationSpaceRefBase	Base class of the configuration
CConstraintComponentBase	Base class for constraint components
CConstraintComponentData	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
CConstraints	Stack of the inequality constraints. Composed by constraint components that inherits ConstraintComponentBase or ImpactConstraintComponentBase
CConstraintsData	Data for constraints. Composed of ConstraintComponentData corrensponding to the components of Constraints
CContactDynamicsData	Data used in ContactDynamics
CContactModelInfo	Info of a contact model
CContactPlannerBase	Base interface of contact planners
CContactSequence	The sequence of contact status and discrete events (impact and lift)
CContactStatus	Contact status of robot model
CContactWrenchCone	Constraint on the contact wrench cone for surface contacts
CControlPolicy	Control pocily constructed for the MPC solution
CCostFunction	Stack of the cost function. Composed by cost function components that inherits CostFunctionComponentBase
CCostFunctionComponentBase	Base class of components of cost function
CCostFunctionData	Composed of data used to compute the cost function and its derivatives
CCrawlFootStepPlanner	Foot step planner for the crawl gait of quadrupeds
CDerivativeChecker
CDirectMultipleShooting	Direct multiple shooting method of the optimal control problems
CDiscreteEvent	Discrete event composed by impact and lift
CDiscreteTimeCoMRef	Discrete-time reference of the center of mass
CDiscreteTimeSwingFootRef	Discrete-time reference of the positions of swinging contact frames
CFlyingTrotFootStepPlanner	Foot step planner for the flying trot gait of quadrupeds
CFrictionCone	Constraint on the inner-approximated firction cone
CGridInfo	Grid information
CImpactConstraintComponentBase	Base class for impact constraint components
CImpactFrictionCone	Constraint on the inner-approximated impact firction cone
CImpactStage	Impact stage computations for optimal control problems
CImpactStatus	Impact status of robot model. Wrapper of ContactStatus to treat impacts
CImpactWrenchCone	Constraint on the wrench firction cone for surface contacts
CIntermediateStage	Intermediate stage computations for optimal control problems
CJointAccelerationLowerLimit	Constraint on the lower limits of the joint acceleration
CJointAccelerationUpperLimit	Constraint on the upper limits of the joint acceleration
CJointPositionLowerLimit	Constraint on the lower limits of the joint position
CJointPositionUpperLimit	Constraint on the upper limits of the joint position
CJointTorquesLowerLimit	Constraint on the lower limits of the joint torques
CJointTorquesUpperLimit	Constraint on the upper limits of the joint torques
CJointVelocityLowerLimit	Constraint on the lower limits of the joint velocity
CJointVelocityUpperLimit	Constraint on the upper limits of the joint velocity
CJumpFootStepPlanner	Foot step planner for the jump motion
CLineSearch	Line search for optimal control problems
CLineSearchFilter	Filter of the line search
CLineSearchSettings	Settings for the line search
CLocalContactForceCost	Cost on the contact forces expressed in the local frames
CLQRPolicy	The state feedback and feedforward policy of LQR subproblem at a time stage
CMovingWindowFilter	Moving window filter for foot step planning
CMPCBipedWalk	MPC solver for the bipedal robot walk
CMPCCrawl	MPC solver for the crawl gait of quadrupeds
CMPCFlyingTrot	MPC solver for the trot gait of quadrupeds
CMPCJump	MPC solver for the jump control
CMPCPace	MPC solver for the pace gait of quadrupeds
CMPCPeriodicCoMRef	Periodic reference positions of the center of mass
CMPCPeriodicConfigurationRef	Periodic reference configuration for MPC of legged robots
CMPCPeriodicSwingFootRef	Periodic reference of the foot position
CMPCTrot	MPC solver for the trot gait of quadrupeds
COCP	The optimal control problem
COCPData	A data structure for an optimal control problem
COCPSolver	Optimal control problem solver by Riccati recursion
CPaceFootStepPlanner	Foot step planner for the pace gait of quadrupeds
CParNMPCIntermediateStage	The intermediate stage of ParNMPC for unconstrained rigid-body systems
CParNMPCTerminalStage	The terminal stage of ParNMPC for unconstrained rigid-body systems
CPerformanceIndex	Performance index of optimal control problems
CPeriodicCoMRef	Periodic reference of the center of mass
CPeriodicSwingFootRef	Periodic reference of the swing foot position
CPointContact	Kinematics and dynamic model of a point contact
CRaibertHeuristic	Raibert heuristic for foot step planning
CRiccatiFactorizer	Riccati factorizer
CRiccatiRecursion	Riccati recursion solver for optimal control problems. Solves the KKT system in linear time complexity w.r.t. the length of the horizon
CRobot	Dynamics and kinematics model of robots. Wraps pinocchio::Model and pinocchio::Data. Includes contacts
CRobotModelInfo	Info of a robot model
CRobotProperties	Collection of the robot properties, which can change after constructing robot models
CSE3JacobianInverse	A class that computes the inverse of the Jacobian of SE(3)
CSolutionInterpolator	Solution interpolator
CSolverOptions	Options of optimal control solvers
CSolverStatistics	Statistics of optimal control solvers
CSplitConstrainedRiccatiFactorization	Riccati factorization matrix and vector for the switching constraint
CSplitDirection	Newton direction of the solution to the optimal control problem split into a time stage
CSplitKKTMatrix	The KKT matrix split into a time stage
CSplitKKTResidual	KKT residual split into each time stage
CSplitRiccatiFactorization	Riccati factorization matrix and vector for a time stage
CSplitSolution	Solution to the optimal control problem split into a time stage
CStateEquationData	Data for the state equations
CSTOConstraints	Constraints of the switching time optimization problems
CSTOCostFunction	Stack of the cost function of the switching time optimization (STO) problem. Composed by cost function components that inherits STOCostFunctionComponentBase
CSTOCostFunctionComponentBase	Base class of components of the cost function of the switching time optimization (STO) problem
CSTOPolicy	The state feedback and feedforward policy of the switching time optimization (STO)
CSurfaceContact	Kinematics and dynamic model of a surface contact
CSwitchingConstraintData	Data for the switching constraint
CSwitchingTimeOptimization	The switching time optimization (STO) problem
CTaskSpace3DCost	Cost on the task space position
CTaskSpace3DRefBase	Base class of reference task space position
CTaskSpace6DCost	Cost on the task space placement (SE(3))
CTaskSpace6DRefBase	Base class of reference task space placement (position and orientation)
CTerminalStage	Terminal stage computations for optimal control problems
CTimeDiscretization	Time discretization of the optimal control problem
CTimer	A timer class to take benchmarks
CTrotFootStepPlanner	Foot step planner for the trot gait of quadrupeds
CTrotSwingFootRef	Periodic reference of the foot position
CUnconstrBackwardCorrection	Backward correction for optimal control problems of unconstrained rigid-body systems
CUnconstrBackwardRiccatiRecursionFactorizer	Factorizer of the backward Riccati recursion of a time stage
CUnconstrDirectMultipleShooting	Direct multiple shooting method of optimal control problems of unconstrained rigid-body systems
CUnconstrDynamics	Inverse dynamics constraint without constraints (floating base or contacts)
CUnconstrIntermediateStage	The intermediate stage of OCP computation for unconstrained rigid-body systems
CUnconstrKKTMatrixInverter	Schur complement for SplitKKTMatrix for UnconstrParNMPC
CUnconstrLineSearch	Line search for optimal control problems for unconstrained rigid-body systems
CUnconstrOCPData	Data structure for the optimal control problem of unconstrained rigid-body systems
CUnconstrOCPSolver	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
CUnconstrParNMPCSolver	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
CUnconstrRiccatiFactorizer	Riccati factorizer for a time stage
CUnconstrRiccatiRecursion	Riccati recursion solver for optimal control problems of unconstrained rigid-body systems
CUnconstrSplitBackwardCorrection	Split backward correction
CUnconstrTerminalStage