| ▼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 |