crocoddyl
1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
Class Hierarchy
Go to the graphical class hierarchy
This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level
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C
ActionDataAbstractTpl< _Scalar >
C
ActionDataCodeGenTpl< _Scalar >
C
ActionDataImpulseFwdDynamicsTpl< _Scalar >
C
ActionDataLQRTpl< _Scalar >
C
ActionDataNumDiffTpl< _Scalar >
C
ActionDataUnicycleTpl< _Scalar >
►
C
IntegratedActionDataAbstractTpl< _Scalar >
C
IntegratedActionDataEulerTpl< _Scalar >
C
IntegratedActionDataRK4Tpl< _Scalar >
C
IntegratedActionDataRKTpl< _Scalar >
►
C
ActionModelAbstractTpl< _Scalar >
Abstract class for action model
C
ActionModelCodeGenTpl< _Scalar >
C
ActionModelImpulseFwdDynamicsTpl< _Scalar >
Action model for impulse forward dynamics in multibody systems
C
ActionModelLQRTpl< _Scalar >
C
ActionModelNumDiffTpl< _Scalar >
This class computes the numerical differentiation of an action model
C
ActionModelUnicycleTpl< _Scalar >
►
C
IntegratedActionModelAbstractTpl< _Scalar >
Abstract class for an integrated action model
C
IntegratedActionModelEulerTpl< _Scalar >
Symplectic Euler integrator
C
IntegratedActionModelRK4Tpl< _Scalar >
Standard RK4 integrator
C
IntegratedActionModelRKTpl< _Scalar >
Standard RK integrator
C
ActivationBoundsTpl< _Scalar >
C
ActivationBoundsTpl< Scalar >
►
C
ActivationDataAbstractTpl< _Scalar >
►
C
ActivationDataSmooth1NormTpl< Scalar >
C
ActivationDataSmoothAbsTpl< Scalar >
C
ActivationData2NormBarrierTpl< _Scalar >
C
ActivationDataNumDiffTpl< _Scalar >
C
ActivationDataQuadFlatExpTpl< _Scalar >
C
ActivationDataQuadFlatLogTpl< _Scalar >
C
ActivationDataQuadraticBarrierTpl< _Scalar >
C
ActivationDataSmooth1NormTpl< _Scalar >
C
ActivationDataWeightedQuadTpl< _Scalar >
C
ActivationDataSmooth2NormTpl< Scalar >
►
C
ActivationModelAbstractTpl< _Scalar >
►
C
ActivationModelSmooth1NormTpl< Scalar >
C
ActivationModelSmoothAbsTpl< Scalar >
C
ActivationModel2NormBarrierTpl< _Scalar >
2-norm barrier activation
C
ActivationModelNumDiffTpl< _Scalar >
C
ActivationModelQuadFlatExpTpl< _Scalar >
C
ActivationModelQuadFlatLogTpl< _Scalar >
Quadratic-flat-log activation
C
ActivationModelQuadraticBarrierTpl< _Scalar >
C
ActivationModelQuadTpl< _Scalar >
C
ActivationModelSmooth1NormTpl< _Scalar >
Smooth-abs activation
C
ActivationModelSmooth2NormTpl< _Scalar >
Smooth-2Norm activation
C
ActivationModelWeightedQuadraticBarrierTpl< _Scalar >
C
ActivationModelWeightedQuadTpl< _Scalar >
►
C
ActuationDataAbstractTpl< _Scalar >
C
ActuationDataNumDiffTpl< _Scalar >
C
ActuationSquashingDataTpl< _Scalar >
►
C
ActuationModelAbstractTpl< _Scalar >
Abstract class for the actuation-mapping model
C
ActuationModelFloatingBaseTpl< _Scalar >
Floating-base actuation model
C
ActuationModelFullTpl< _Scalar >
Full actuation model
C
ActuationModelMultiCopterBaseTpl< _Scalar >
Multicopter actuation model
C
ActuationModelNumDiffTpl< _Scalar >
This class computes the numerical differentiation of an actuation model
C
ActuationSquashingModelTpl< _Scalar >
C
BoxQP
This class implements a Box QP solver based on a Projected Newton method
C
BoxQPSolution
Box QP solution
►
C
CallbackAbstract
Abstract class for solver callbacks
C
CallbackVerbose
C
ContactDataMultipleTpl< _Scalar >
Define the multi-contact data
C
ContactItemTpl< _Scalar >
►
C
ContactModelAbstractTpl< _Scalar >
C
ContactModel1DTpl< _Scalar >
C
ContactModel2DTpl< _Scalar >
C
ContactModel3DTpl< _Scalar >
C
ContactModel6DTpl< _Scalar >
C
ContactModelNumDiffTpl< _Scalar >
C
ContactModelMultipleTpl< _Scalar >
Define a stack of contact models
►
C
ControlParametrizationDataAbstractTpl< _Scalar >
C
ControlParametrizationDataNumDiffTpl< _Scalar >
C
ControlParametrizationDataPolyOneTpl< _Scalar >
C
ControlParametrizationDataPolyTwoRKTpl< _Scalar >
►
C
ControlParametrizationModelAbstractTpl< _Scalar >
Abstract class for the control trajectory parametrization
C
ControlParametrizationModelNumDiffTpl< _Scalar >
C
ControlParametrizationModelPolyOneTpl< _Scalar >
A polynomial function of time of degree one, that is a linear function
C
ControlParametrizationModelPolyTwoRKTpl< _Scalar >
A polynomial function of time of degree two, that is a quadratic function
C
ControlParametrizationModelPolyZeroTpl< _Scalar >
A polynomial function of time of degree zero, that is a constant
C
CoPSupportTpl< _Scalar >
This class encapsulates a center of pressure support of a 6d contact
C
CoPSupportTpl< Scalar >
►
C
CostDataAbstractTpl< _Scalar >
C
CostDataNumDiffTpl< _Scalar >
C
CostDataResidualTpl< _Scalar >
C
CostDataSumTpl< _Scalar >
C
CostItemTpl< _Scalar >
►
C
CostModelAbstractTpl< _Scalar >
Abstract class for cost models
C
CostModelNumDiffTpl< _Scalar >
This class computes the numerical differentiation of a cost model
►
C
CostModelResidualTpl< _Scalar >
Residual-based cost
C
CostModelCentroidalMomentumTpl< _Scalar >
Centroidal momentum cost
C
CostModelCoMPositionTpl< _Scalar >
CoM position cost
C
CostModelContactCoPPositionTpl< _Scalar >
Define a center of pressure cost function
C
CostModelContactForceTpl< _Scalar >
Define a contact force cost function
C
CostModelContactFrictionConeTpl< _Scalar >
Contact friction cone cost
C
CostModelContactImpulseTpl< _Scalar >
Define a contact impulse cost function
C
CostModelContactWrenchConeTpl< _Scalar >
C
CostModelControlGravContactTpl< _Scalar >
Control gravity cost
C
CostModelControlGravTpl< _Scalar >
Control gravity cost
C
CostModelControlTpl< _Scalar >
Control cost
C
CostModelFramePlacementTpl< _Scalar >
Frame placement cost
C
CostModelFrameRotationTpl< _Scalar >
Frame rotation cost
C
CostModelFrameTranslationTpl< _Scalar >
Frame translation cost
C
CostModelFrameVelocityTpl< _Scalar >
Frame velocity cost
C
CostModelImpulseCoMTpl< _Scalar >
Impulse CoM cost
C
CostModelImpulseCoPPositionTpl< _Scalar >
Define a center of pressure cost function
C
CostModelImpulseFrictionConeTpl< _Scalar >
Impulse friction cone cost
C
CostModelImpulseWrenchConeTpl< _Scalar >
C
CostModelStateTpl< _Scalar >
State cost
C
CostModelSumTpl< _Scalar >
Summation of individual cost models
C
CostModelSumTpl< Scalar >
C
CsvStream
►
C
DataCollectorAbstractTpl< Scalar >
►
C
DataCollectorActuationTpl< Scalar >
C
DataCollectorActMultibodyInContactTpl< Scalar >
C
DataCollectorActMultibodyTpl< Scalar >
►
C
DataCollectorContactTpl< Scalar >
►
C
DataCollectorMultibodyInContactTpl< Scalar >
C
DataCollectorActMultibodyInContactTpl< Scalar >
►
C
DataCollectorImpulseTpl< Scalar >
C
DataCollectorMultibodyInImpulseTpl< Scalar >
►
C
DataCollectorMultibodyTpl< Scalar >
C
DataCollectorActMultibodyTpl< Scalar >
C
DataCollectorMultibodyInContactTpl< Scalar >
C
DataCollectorMultibodyInImpulseTpl< Scalar >
►
C
DifferentialActionDataAbstractTpl< _Scalar >
C
DifferentialActionDataContactFwdDynamicsTpl< _Scalar >
C
DifferentialActionDataFreeFwdDynamicsTpl< _Scalar >
C
DifferentialActionDataLQRTpl< _Scalar >
C
DifferentialActionDataNumDiffTpl< _Scalar >
►
C
DifferentialActionModelAbstractTpl< _Scalar >
Abstract class for differential action model
C
DifferentialActionModelContactFwdDynamicsTpl< _Scalar >
Differential action model for contact forward dynamics in multibody systems
C
DifferentialActionModelFreeFwdDynamicsTpl< _Scalar >
Differential action model for free forward dynamics in multibody systems
C
DifferentialActionModelLQRTpl< _Scalar >
C
DifferentialActionModelNumDiffTpl< _Scalar >
This class computes the numerical differentiation of a differential action model
►
C
exception
C
Exception
►
C
ForceDataAbstractTpl< _Scalar >
►
C
ContactDataAbstractTpl< _Scalar >
C
ContactData1DTpl< _Scalar >
C
ContactData2DTpl< _Scalar >
C
ContactData3DTpl< _Scalar >
C
ContactData6DTpl< _Scalar >
C
ContactDataNumDiffTpl< _Scalar >
►
C
ImpulseDataAbstractTpl< _Scalar >
C
ImpulseData3DTpl< _Scalar >
C
ImpulseData6DTpl< _Scalar >
C
FrameCoPSupportTpl< _Scalar >
C
FrameCoPSupportTpl< Scalar >
C
FrameForceTpl< _Scalar >
C
FrameForceTpl< Scalar >
C
FrameFrictionConeTpl< _Scalar >
C
FrameFrictionConeTpl< Scalar >
C
FrameMotionTpl< _Scalar >
C
FrameMotionTpl< Scalar >
C
FramePlacementTpl< _Scalar >
C
FramePlacementTpl< Scalar >
C
FrameRotationTpl< _Scalar >
C
FrameRotationTpl< Scalar >
C
FrameTranslationTpl< _Scalar >
C
FrameTranslationTpl< Scalar >
C
FrameWrenchConeTpl< _Scalar >
C
FrameWrenchConeTpl< Scalar >
C
FrictionConeTpl< _Scalar >
This class encapsulates a friction cone
C
FrictionConeTpl< Scalar >
C
ImpulseDataMultipleTpl< _Scalar >
Define the multi-impulse data
C
ImpulseItemTpl< _Scalar >
►
C
ImpulseModelAbstractTpl< _Scalar >
C
ImpulseModel3DTpl< _Scalar >
C
ImpulseModel6DTpl< _Scalar >
C
ImpulseModelMultipleTpl< _Scalar >
Define a stack of impulse models
C
MathBaseTpl< _Scalar >
C
MathBaseTpl< ADScalar >
C
MathBaseTpl< double >
C
MathBaseTpl< Scalar >
C
Stopwatch::PerformanceData
Struct to hold the performance data
C
pseudoInverseAlgo< MatrixLike, value >
C
pseudoInverseAlgo< MatrixLike, false >
►
C
ResidualDataAbstractTpl< _Scalar >
C
ResidualDataCentroidalMomentumTpl< _Scalar >
C
ResidualDataCoMPositionTpl< _Scalar >
C
ResidualDataContactControlGravTpl< _Scalar >
C
ResidualDataContactCoPPositionTpl< _Scalar >
C
ResidualDataContactForceTpl< _Scalar >
C
ResidualDataContactFrictionConeTpl< _Scalar >
C
ResidualDataContactWrenchConeTpl< _Scalar >
C
ResidualDataControlGravTpl< _Scalar >
C
ResidualDataFramePlacementTpl< _Scalar >
C
ResidualDataFrameRotationTpl< _Scalar >
C
ResidualDataFrameTranslationTpl< _Scalar >
C
ResidualDataFrameVelocityTpl< _Scalar >
C
ResidualDataImpulseCoMTpl< _Scalar >
C
ResidualDataNumDiffTpl< _Scalar >
C
ResidualDataControlTpl< Scalar >
C
ResidualDataStateTpl< Scalar >
►
C
ResidualModelAbstractTpl< _Scalar >
Abstract class for residual models
C
ResidualModelCentroidalMomentumTpl< _Scalar >
Centroidal momentum residual
C
ResidualModelCoMPositionTpl< _Scalar >
CoM position residual
C
ResidualModelContactControlGravTpl< _Scalar >
Control gravity residual under contact
C
ResidualModelContactCoPPositionTpl< _Scalar >
Center of pressure residual function
C
ResidualModelContactForceTpl< _Scalar >
Define a contact force residual function
C
ResidualModelContactFrictionConeTpl< _Scalar >
Contact friction cone residual
C
ResidualModelContactWrenchConeTpl< _Scalar >
Contact wrench cone residual function
C
ResidualModelControlGravTpl< _Scalar >
Control gravity residual
C
ResidualModelControlTpl< _Scalar >
Define a control residual
C
ResidualModelFramePlacementTpl< _Scalar >
Frame placement residual
C
ResidualModelFrameRotationTpl< _Scalar >
Frame rotation residual
C
ResidualModelFrameTranslationTpl< _Scalar >
Frame translation residual
C
ResidualModelFrameVelocityTpl< _Scalar >
Frame velocity residual
C
ResidualModelImpulseCoMTpl< _Scalar >
Impulse CoM residual
C
ResidualModelNumDiffTpl< _Scalar >
This class computes the numerical differentiation of a residual model
C
ResidualModelStateTpl< _Scalar >
State residual
C
ShootingProblemTpl< _Scalar >
This class encapsulates a shooting problem
C
SimpleQuadrupedGaitProblem
►
C
SolverAbstract
Abstract class for optimal control solvers
►
C
SolverDDP
Differential Dynamic Programming (DDP) solver
C
SolverBoxDDP
►
C
SolverFDDP
Feasibility-driven Differential Dynamic Programming (FDDP) solver
C
SolverBoxFDDP
C
SolverKKT
C
SquashingDataAbstractTpl< _Scalar >
►
C
SquashingModelAbstractTpl< _Scalar >
C
SquashingModelSmoothSatTpl< _Scalar >
►
C
StateAbstractTpl< _Scalar >
Abstract class for the state representation
C
StateMultibodyTpl< _Scalar >
State multibody representation
C
StateNumDiffTpl< _Scalar >
C
StateVectorTpl< _Scalar >
C
Stopwatch
A class representing a stopwatch
C
StopwatchException
C
Timer
C
WrenchConeTpl< _Scalar >
This class encapsulates a wrench cone
C
WrenchConeTpl< Scalar >
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