| ▼Ntowr | |
| CBaseMotionConstraint | Keeps the 6D base motion in a specified range |
| CBaseNodes | Node variables used to construct the base motion spline |
| CBaseState | Can represent the 6Degree-of-Freedom floating base of a robot |
| CCentroidalModel | Centroidal Dynamics model relating forces to base accelerations |
| 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 |
| CForceConstraint | Ensures foot force that is unilateral and inside friction cone |
| CHeightMap | Holds the height and slope of the terrain |
| CKinematicModel | Contains all the robot specific kinematic parameters |
| CLinearEqualityConstraint | Calculates the constraint violations for linear constraints |
| CNlpFactory | |
| CNode | A node represents the state of a trajectory at a specific time |
| CNodeCost | Assigns a cost to node values |
| ▼CNodes | Position and velocity of nodes used to generate a Hermite spline |
| CIndexInfo | Holds information about the node the optimization index represents |
| CNodesObserver | Base class to receive up-to-date values of the NodeVariables |
| CNodeSpline | A spline built from node values and fixed polynomial durations |
| CParameters | Holds 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 |
| ▼CPhaseNodes | Nodes that are associated to either swing or stance phases |
| CPolyInfo | Holds semantic information each polynomial in spline |
| CPhaseSpline | A spline built from node values and polynomial durations |
| CPolynomial | A polynomial of arbitrary order and dimension |
| CRangeOfMotionConstraint | Constrains an endeffector to lie in a box around the nominal stance |
| CRobotModel | Holds pointers to the robot specific kinematics and dynamics |
| 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 | Holds pointers to fully constructed splines, that are linked to the optimization variables |
| 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 |
| CTOWR | TOWR - Trajectory Optimizer for Walking Robots |