Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 123]

Ctowr::BaseState	Can represent the 6Degree-of-Freedom floating base of a robot
▼CComponent
Ctowr::SoftConstraint	Converts a constraint to a cost by weighing the quadratic violations
▼CConstraintSet
Ctowr::ForceConstraint	Ensures foot force that is unilateral and inside friction cone
Ctowr::LinearEqualityConstraint	Calculates the constraint violations for linear constraints
Ctowr::SplineAccConstraint	Ensures continuous accelerations between polynomials
Ctowr::SwingConstraint	Constrains the foot position during the swing-phase
Ctowr::TerrainConstraint	Ensures the endeffectors always lays on or above terrain height
▼Ctowr::TimeDiscretizationConstraint	Constraints evaluated at discretized times along a trajectory
Ctowr::BaseMotionConstraint	Keeps the 6D base motion in a specified range
Ctowr::DynamicConstraint	Ensure that the optimized motion complies with the system dynamics
Ctowr::RangeOfMotionConstraint	Constrains an endeffector to lie in a box around the nominal stance
Ctowr::TotalDurationConstraint	Makes sure all the phase durations sum up to the total time
▼CCostTerm
Ctowr::NodeCost	Assigns a cost to node values
▼Ctowr::DynamicModel	A interface for the the system dynamics of a legged robot
Ctowr::CentroidalModel	Centroidal Dynamics model relating forces to base accelerations
Ctowr::EulerConverter	Converts Euler angles and derivatives to angular quantities
Ctowr::HeightMap	Holds the height and slope of the terrain
Ctowr::Nodes::IndexInfo	Holds information about the node the optimization index represents
Ctowr::KinematicModel	Contains all the robot specific kinematic parameters
Ctowr::NlpFactory
▼Ctowr::NodesObserver	Base class to receive up-to-date values of the NodeVariables
▼Ctowr::NodeSpline	A spline built from node values and fixed polynomial durations
Ctowr::PhaseSpline	A spline built from node values and polynomial durations
Ctowr::Parameters	Holds the parameters to tune the optimization problem
▼Ctowr::PhaseDurationsObserver	Base class to receive up-to-date values of the ContactSchedule
Ctowr::PhaseSpline	A spline built from node values and polynomial durations
Ctowr::PhaseNodes::PolyInfo	Holds semantic information each polynomial in spline
▼Ctowr::Polynomial	A polynomial of arbitrary order and dimension
Ctowr::CubicHermitePolynomial	Represents a Cubic-Hermite-Polynomial
Ctowr::RobotModel	Holds pointers to the robot specific kinematics and dynamics
▼Ctowr::Spline	A spline built from a sequence of cubic polynomials
Ctowr::NodeSpline	A spline built from node values and fixed polynomial durations
Ctowr::SplineHolder	Holds pointers to fully constructed splines, that are linked to the optimization variables
▼Ctowr::State	Stores at state comprised of values and higher-order derivatives
Ctowr::Node	A node represents the state of a trajectory at a specific time
Ctowr::TOWR	TOWR - Trajectory Optimizer for Walking Robots
▼CVariableSet
▼Ctowr::Nodes	Position and velocity of nodes used to generate a Hermite spline
Ctowr::BaseNodes	Node variables used to construct the base motion spline
Ctowr::PhaseNodes	Nodes that are associated to either swing or stance phases
Ctowr::PhaseDurations	A variable set composed of the phase durations of an endeffector