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| class | AnymalDynamicModel |
| | The Dynamics of the quadruped robot ANYmal. More...
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| class | AnymalKinematicModel |
| | The Kinematics of the quadruped robot ANYmal. More...
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| class | BaseMotionConstraint |
| | Keeps the 6D base motion in a specified range. More...
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| struct | BaseState |
| | Can represent the 6Degree-of-Freedom floating base of a robot. More...
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| class | BipedDynamicModel |
| | The Dynamics of a tow-legged robot built from HyQ legs. More...
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| class | BipedGaitGenerator |
| | Produces the contact sequence for a variety of two-legged gaits. More...
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| class | BipedKinematicModel |
| | The Kinematics of a tow-legged robot built from HyQ legs. More...
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| class | Block |
| | Sample terrain with a step in height in x-direction. More...
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| class | Chimney |
| | Sample terrain with a tilted vertical wall to cross a gap. More...
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| class | ChimneyLR |
| | Sample terrain with two tilted vertical walls to cross a gap. More...
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| class | CubicHermitePolynomial |
| | Represents a Cubic-Hermite-Polynomial. More...
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| class | DynamicConstraint |
| | Ensure that the optimized motion complies with the system dynamics. More...
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| class | DynamicModel |
| | A interface for the the system dynamics of a legged robot. More...
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| class | EulerConverter |
| | Converts Euler angles and derivatives to angular quantities. More...
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| class | FlatGround |
| | Sample terrain of even height. More...
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| class | ForceConstraint |
| | Ensures foot force that is unilateral and inside friction cone. More...
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| class | GaitGenerator |
| | Generates endeffector phase durations for predefined gait styles. More...
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| class | Gap |
| | Sample terrain with parabola-modeled gap in x-direction. More...
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| class | HeightMap |
| | Holds the height and slope information of the terrain. More...
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| class | HyqDynamicModel |
| | The Dynamics of the quadruped robot HyQ. More...
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| class | HyqKinematicModel |
| | The Kinematics of the quadruped robot HyQ. More...
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| class | KinematicModel |
| | Contains all the robot specific kinematic parameters. More...
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| class | LinearEqualityConstraint |
| | Calculates the constraint violations for linear constraints. More...
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| class | MonopedDynamicModel |
| | The Dynamics of a one-legged hopper with HyQ leg. More...
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| class | MonopedGaitGenerator |
| | Produces the contact sequence for a variety of one-legged gaits. More...
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| class | MonopedKinematicModel |
| | The Kinematics of a one-legged hopper with HyQ leg. More...
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| class | NlpFormulation |
| | A sample combination of variables, cost and constraints. More...
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| class | Node |
| | A node represents the state of a trajectory at a specific time. More...
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| class | NodeCost |
| | Assigns a cost to node values. More...
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| class | NodesObserver |
| | Base class to receive up-to-date values of the NodeVariables. More...
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| class | NodeSpline |
| | A spline built from node values and fixed polynomial durations. More...
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| class | NodesVariables |
| | Position and velocity of nodes used to generate a Hermite spline. More...
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| class | NodesVariablesAll |
| | Node variables used to construct the base motion spline. More...
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| class | NodesVariablesEEForce |
| | Variables fully defining the endeffector forces. More...
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| class | NodesVariablesEEMotion |
| | Variables fully defining the endeffector motion. More...
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| class | NodesVariablesPhaseBased |
| | Nodes that are associated to either swing or stance phases. More...
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| class | Parameters |
| | The parameters to tune the optimization problem. More...
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| class | PhaseDurations |
| | A variable set composed of the phase durations of an endeffector. More...
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| class | PhaseDurationsObserver |
| | Base class to receive up-to-date values of the ContactSchedule. More...
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| class | PhaseSpline |
| | A spline built from node values and polynomial durations. More...
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| class | Polynomial |
| | A polynomial of arbitrary order and dimension. More...
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| class | QuadrupedGaitGenerator |
| | Produces the contact sequence for a variety of four-legged gaits. More...
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| class | RangeOfMotionConstraint |
| | Constrains an endeffector to lie in a box around the nominal stance. More...
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| struct | RobotModel |
| | Base class for robot specific kinematics and dynamics. More...
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| class | SingleRigidBodyDynamics |
| | Dynamics model relating forces to base accelerations. More...
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| class | Slope |
| | Sample terrain with an increasing and then decreasing slope in x-direction. More...
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| class | SoftConstraint |
| | Converts a constraint to a cost by weighing the quadratic violations. More...
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| class | Spline |
| | A spline built from a sequence of cubic polynomials. More...
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| class | SplineAccConstraint |
| | Ensures continuous accelerations between polynomials. More...
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| struct | SplineHolder |
| | Builds splines from node values (pos/vel) and durations. More...
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| class | Stairs |
| | Sample terrain with a two-steps in height in x-direction. More...
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| class | State |
| | Stores at state comprised of values and higher-order derivatives. More...
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| class | SwingConstraint |
| | Constrains the foot position during the swing-phase. More...
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| class | TerrainConstraint |
| | Ensures the endeffectors always lays on or above terrain height. More...
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| class | TimeDiscretizationConstraint |
| | Constraints evaluated at discretized times along a trajectory. More...
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| class | TotalDurationConstraint |
| | Makes sure all the phase durations sum up to the total time. More...
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