Class List

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

[detail level 123]

▼Ntowr | |

CAnymalDynamicModel | The Dynamics of the quadruped robot ANYmal |

CAnymalKinematicModel | The Kinematics of the quadruped robot ANYmal |

CBaseMotionConstraint | Keeps the 6D base motion in a specified range |

CBaseState | Can represent the 6Degree-of-Freedom floating base of a robot |

CBipedDynamicModel | The Dynamics of a tow-legged robot built from HyQ legs |

CBipedGaitGenerator | Produces the contact sequence for a variety of two-legged gaits |

CBipedKinematicModel | The Kinematics of a tow-legged robot built from HyQ legs |

CBlock | Sample terrain with a step in height in x-direction |

CChimney | Sample terrain with a tilted vertical wall to cross a gap |

CChimneyLR | Sample terrain with two tilted vertical walls to cross a gap |

CCubicHermitePolynomial | Represents a Cubic-Hermite-Polynomial |

CDynamicConstraint | Ensure that the optimized motion complies with the system dynamics |

CDynamicModel | A interface for the the system dynamics of a legged robot |

CEulerConverter | Converts Euler angles and derivatives to angular quantities |

CFlatGround | Sample terrain of even height |

CForceConstraint | Ensures foot force that is unilateral and inside friction cone |

CGaitGenerator | Generates endeffector phase durations for predefined gait styles |

CGap | Sample terrain with parabola-modeled gap in x-direction |

CHeightMap | Holds the height and slope information of the terrain |

CHyqDynamicModel | The Dynamics of the quadruped robot HyQ |

CHyqKinematicModel | The Kinematics of the quadruped robot HyQ |

CKinematicModel | Contains all the robot specific kinematic parameters |

CLinearEqualityConstraint | Calculates the constraint violations for linear constraints |

CMonopedDynamicModel | The Dynamics of a one-legged hopper with HyQ leg |

CMonopedGaitGenerator | Produces the contact sequence for a variety of one-legged gaits |

CMonopedKinematicModel | The Kinematics of a one-legged hopper with HyQ leg |

CNlpFormulation | A sample combination of variables, cost and constraints |

CNode | A node represents the state of a trajectory at a specific time |

CNodeCost | Assigns a cost to node values |

CNodesObserver | Base class to receive up-to-date values of the NodeVariables |

CNodeSpline | A spline built from node values and fixed polynomial durations |

▼CNodesVariables | Position and velocity of nodes used to generate a Hermite spline |

CNodeValueInfo | Semantic information associated with a scalar node value |

CNodesVariablesAll | Node variables used to construct the base motion spline |

CNodesVariablesEEForce | Variables fully defining the endeffector forces |

CNodesVariablesEEMotion | Variables fully defining the endeffector motion |

▼CNodesVariablesPhaseBased | Nodes that are associated to either swing or stance phases |

CPolyInfo | Holds semantic information each polynomial in spline |

CParameters | The parameters to tune the optimization problem |

CPhaseDurations | A variable set composed of the phase durations of an endeffector |

CPhaseDurationsObserver | Base class to receive up-to-date values of the ContactSchedule |

CPhaseSpline | A spline built from node values and polynomial durations |

CPolynomial | A polynomial of arbitrary order and dimension |

CQuadrupedGaitGenerator | Produces the contact sequence for a variety of four-legged gaits |

CRangeOfMotionConstraint | Constrains an endeffector to lie in a box around the nominal stance |

CRobotModel | Base class for robot specific kinematics and dynamics |

CSingleRigidBodyDynamics | Dynamics model relating forces to base accelerations |

CSlope | Sample terrain with an increasing and then decreasing slope in x-direction |

CSoftConstraint | Converts a constraint to a cost by weighing the quadratic violations |

CSpline | A spline built from a sequence of cubic polynomials |

CSplineAccConstraint | Ensures continuous accelerations between polynomials |

CSplineHolder | Builds splines from node values (pos/vel) and durations |

CStairs | Sample terrain with a two-steps in height in x-direction |

CState | Stores at state comprised of values and higher-order derivatives |

CSwingConstraint | Constrains the foot position during the swing-phase |

CTerrainConstraint | Ensures the endeffectors always lays on or above terrain height |

CTimeDiscretizationConstraint | Constraints evaluated at discretized times along a trajectory |

CTotalDurationConstraint | Makes sure all the phase durations sum up to the total time |