Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 123]

▼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 |