Class Hierarchy

Go to the graphical class hierarchy

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

[detail level 12345]

Ctowr::BaseState	Can represent the 6Degree-of-Freedom floating base of a robot
▼Cifopt::Component [external]
▼Cifopt::ConstraintSet [external]
▼Cifopt::CostTerm [external]
Ctowr::NodeCost	Assigns a cost to node values
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
▼Cifopt::VariableSet [external]
▼Ctowr::NodesVariables	Position and velocity of nodes used to generate a Hermite spline
Ctowr::NodesVariablesAll	Node variables used to construct the base motion spline
▼Ctowr::NodesVariablesPhaseBased	Nodes that are associated to either swing or stance phases
Ctowr::NodesVariablesEEForce	Variables fully defining the endeffector forces
Ctowr::NodesVariablesEEMotion	Variables fully defining the endeffector motion
Ctowr::PhaseDurations	A variable set composed of the phase durations of an endeffector
Ctowr::SoftConstraint	Converts a constraint to a cost by weighing the quadratic violations
▼Ctowr::DynamicModel	A interface for the the system dynamics of a legged robot
▼Ctowr::SingleRigidBodyDynamics	Dynamics model relating forces to base accelerations
Ctowr::AnymalDynamicModel	The Dynamics of the quadruped robot ANYmal
Ctowr::BipedDynamicModel	The Dynamics of a tow-legged robot built from HyQ legs
Ctowr::HyqDynamicModel	The Dynamics of the quadruped robot HyQ
Ctowr::MonopedDynamicModel	The Dynamics of a one-legged hopper with HyQ leg
Ctowr::EulerConverter	Converts Euler angles and derivatives to angular quantities
▼Ctowr::GaitGenerator	Generates endeffector phase durations for predefined gait styles
Ctowr::BipedGaitGenerator	Produces the contact sequence for a variety of two-legged gaits
Ctowr::MonopedGaitGenerator	Produces the contact sequence for a variety of one-legged gaits
Ctowr::QuadrupedGaitGenerator	Produces the contact sequence for a variety of four-legged gaits
▼Ctowr::HeightMap	Holds the height and slope information of the terrain
Ctowr::Block	Sample terrain with a step in height in x-direction
Ctowr::Chimney	Sample terrain with a tilted vertical wall to cross a gap
Ctowr::ChimneyLR	Sample terrain with two tilted vertical walls to cross a gap
Ctowr::FlatGround	Sample terrain of even height
Ctowr::Gap	Sample terrain with parabola-modeled gap in x-direction
Ctowr::Slope	Sample terrain with an increasing and then decreasing slope in x-direction
Ctowr::Stairs	Sample terrain with a two-steps in height in x-direction
▼Ctowr::KinematicModel	Contains all the robot specific kinematic parameters
Ctowr::AnymalKinematicModel	The Kinematics of the quadruped robot ANYmal
Ctowr::BipedKinematicModel	The Kinematics of a tow-legged robot built from HyQ legs
Ctowr::HyqKinematicModel	The Kinematics of the quadruped robot HyQ
Ctowr::MonopedKinematicModel	The Kinematics of a one-legged hopper with HyQ leg
Ctowr::NlpFormulation	A sample combination of variables, cost and constraints
▼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::NodesVariables::NodeValueInfo	Semantic information associated with a scalar node value
Ctowr::Parameters	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::NodesVariablesPhaseBased::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	Base class for 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	Builds splines from node values (pos/vel) and durations
▼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