Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 123]
 Ctowr::BaseStateCan represent the 6Degree-of-Freedom floating base of a robot
 CComponent
 Ctowr::SoftConstraintConverts a constraint to a cost by weighing the quadratic violations
 CConstraintSet
 Ctowr::ForceConstraintEnsures foot force that is unilateral and inside friction cone
 Ctowr::LinearEqualityConstraintCalculates the constraint violations for linear constraints
 Ctowr::SplineAccConstraintEnsures continuous accelerations between polynomials
 Ctowr::SwingConstraintConstrains the foot position during the swing-phase
 Ctowr::TerrainConstraintEnsures the endeffectors always lays on or above terrain height
 Ctowr::TimeDiscretizationConstraintConstraints evaluated at discretized times along a trajectory
 Ctowr::BaseMotionConstraintKeeps the 6D base motion in a specified range
 Ctowr::DynamicConstraintEnsure that the optimized motion complies with the system dynamics
 Ctowr::RangeOfMotionConstraintConstrains an endeffector to lie in a box around the nominal stance
 Ctowr::TotalDurationConstraintMakes sure all the phase durations sum up to the total time
 CCostTerm
 Ctowr::NodeCostAssigns a cost to node values
 Ctowr::DynamicModelA interface for the the system dynamics of a legged robot
 Ctowr::CentroidalModelCentroidal Dynamics model relating forces to base accelerations
 Ctowr::EulerConverterConverts Euler angles and derivatives to angular quantities
 Ctowr::HeightMapHolds the height and slope of the terrain
 Ctowr::Nodes::IndexInfoHolds information about the node the optimization index represents
 Ctowr::KinematicModelContains all the robot specific kinematic parameters
 Ctowr::NlpFactory
 Ctowr::NodesObserverBase class to receive up-to-date values of the NodeVariables
 Ctowr::NodeSplineA spline built from node values and fixed polynomial durations
 Ctowr::PhaseSplineA spline built from node values and polynomial durations
 Ctowr::ParametersHolds the parameters to tune the optimization problem
 Ctowr::PhaseDurationsObserverBase class to receive up-to-date values of the ContactSchedule
 Ctowr::PhaseSplineA spline built from node values and polynomial durations
 Ctowr::PhaseNodes::PolyInfoHolds semantic information each polynomial in spline
 Ctowr::PolynomialA polynomial of arbitrary order and dimension
 Ctowr::CubicHermitePolynomialRepresents a Cubic-Hermite-Polynomial
 Ctowr::RobotModelHolds pointers to the robot specific kinematics and dynamics
 Ctowr::SplineA spline built from a sequence of cubic polynomials
 Ctowr::NodeSplineA spline built from node values and fixed polynomial durations
 Ctowr::SplineHolderHolds pointers to fully constructed splines, that are linked to the optimization variables
 Ctowr::StateStores at state comprised of values and higher-order derivatives
 Ctowr::NodeA node represents the state of a trajectory at a specific time
 Ctowr::TOWRTOWR - Trajectory Optimizer for Walking Robots
 CVariableSet
 Ctowr::NodesPosition and velocity of nodes used to generate a Hermite spline
 Ctowr::BaseNodesNode variables used to construct the base motion spline
 Ctowr::PhaseNodesNodes that are associated to either swing or stance phases
 Ctowr::PhaseDurationsA variable set composed of the phase durations of an endeffector


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 8 2018 02:18:53