Class List

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

towr::AnymalDynamicModel | The Dynamics of the quadruped robot ANYmal |

towr::AnymalKinematicModel | The Kinematics of the quadruped robot ANYmal |

towr::BaseMotionConstraint | Keeps the 6D base motion in a specified range |

towr::BaseState | Can represent the 6Degree-of-Freedom floating base of a robot |

towr::BipedDynamicModel | The Dynamics of a tow-legged robot built from HyQ legs |

towr::BipedGaitGenerator | Produces the contact sequence for a variety of two-legged gaits |

towr::BipedKinematicModel | The Kinematics of a tow-legged robot built from HyQ legs |

towr::Block | Sample terrain with a step in height in x-direction |

towr::Chimney | Sample terrain with a tilted vertical wall to cross a gap |

towr::ChimneyLR | Sample terrain with two tilted vertical walls to cross a gap |

towr::CubicHermitePolynomial | Represents a Cubic-Hermite-Polynomial |

towr::DynamicConstraint | Ensure that the optimized motion complies with the system dynamics |

towr::DynamicModel | A interface for the the system dynamics of a legged robot |

towr::EulerConverter | Converts Euler angles and derivatives to angular quantities |

towr::FlatGround | Sample terrain of even height |

towr::ForceConstraint | Ensures foot force that is unilateral and inside friction cone |

towr::GaitGenerator | Generates endeffector phase durations for predefined gait styles |

towr::Gap | Sample terrain with parabola-modeled gap in x-direction |

towr::HeightMap | Holds the height and slope information of the terrain |

towr::HyqDynamicModel | The Dynamics of the quadruped robot HyQ |

towr::HyqKinematicModel | The Kinematics of the quadruped robot HyQ |

towr::KinematicModel | Contains all the robot specific kinematic parameters |

towr::LinearEqualityConstraint | Calculates the constraint violations for linear constraints |

towr::MonopedDynamicModel | The Dynamics of a one-legged hopper with HyQ leg |

towr::MonopedGaitGenerator | Produces the contact sequence for a variety of one-legged gaits |

towr::MonopedKinematicModel | The Kinematics of a one-legged hopper with HyQ leg |

towr::NlpFormulation | A sample combination of variables, cost and constraints |

towr::Node | A node represents the state of a trajectory at a specific time |

towr::NodeCost | Assigns a cost to node values |

towr::NodesObserver | Base class to receive up-to-date values of the NodeVariables |

towr::NodeSpline | A spline built from node values and fixed polynomial durations |

towr::NodesVariables | Position and velocity of nodes used to generate a Hermite spline |

towr::NodesVariablesAll | Node variables used to construct the base motion spline |

towr::NodesVariablesEEForce | Variables fully defining the endeffector forces |

towr::NodesVariablesEEMotion | Variables fully defining the endeffector motion |

towr::NodesVariablesPhaseBased | Nodes that are associated to either swing or stance phases |

towr::NodesVariables::NodeValueInfo | Semantic information associated with a scalar node value |

towr::Parameters | The parameters to tune the optimization problem |

towr::PhaseDurations | A variable set composed of the phase durations of an endeffector |

towr::PhaseDurationsObserver | Base class to receive up-to-date values of the ContactSchedule |

towr::PhaseSpline | A spline built from node values and polynomial durations |

towr::NodesVariablesPhaseBased::PolyInfo | Holds semantic information each polynomial in spline |

towr::Polynomial | A polynomial of arbitrary order and dimension |

towr::QuadrupedGaitGenerator | Produces the contact sequence for a variety of four-legged gaits |

towr::RangeOfMotionConstraint | Constrains an endeffector to lie in a box around the nominal stance |

towr::RobotModel | Base class for robot specific kinematics and dynamics |

towr::SingleRigidBodyDynamics | Dynamics model relating forces to base accelerations |

towr::Slope | Sample terrain with an increasing and then decreasing slope in x-direction |

towr::SoftConstraint | Converts a constraint to a cost by weighing the quadratic violations |

towr::Spline | A spline built from a sequence of cubic polynomials |

towr::SplineAccConstraint | Ensures continuous accelerations between polynomials |

towr::SplineHolder | Builds splines from node values (pos/vel) and durations |

towr::Stairs | Sample terrain with a two-steps in height in x-direction |

towr::State | Stores at state comprised of values and higher-order derivatives |

towr::SwingConstraint | Constrains the foot position during the swing-phase |

towr::TerrainConstraint | Ensures the endeffectors always lays on or above terrain height |

towr::TimeDiscretizationConstraint | Constraints evaluated at discretized times along a trajectory |

towr::TotalDurationConstraint | Makes sure all the phase durations sum up to the total time |