| ▼NOptimization | |
| ▼NSolver | |
| CPLDPSolver | |
| CPLDPSolverHerdt | |
| ▼NPatternGeneratorJRL | \doc Simulate a rigid body |
| CAnalyticalZMPCOGTrajectory | |
| CCH_Point | |
| CCOMPosition_s | Structure to store the COM position computed by the preview control |
| CComputeConvexHull | |
| CCOMState_s | Structure to store the COM state computed by the preview control |
| CFootAbsolutePosition_t | Structure to store the absolute foot position |
| CFootConstraintsAsLinearSystem | |
| CFootHalfSize | |
| ▼CIntermedQPMat | Custom (value based) container providing intermediate elements for the construction of a QP |
| Cobjective_variant_s | |
| Cstate_variant_s | |
| Clinear_dynamics_s | |
| CLinearConstraintInequality_s | |
| CLinearConstraintInequalityFreeFeet_s | Linear constraints with variable feet placement |
| CLinearizedInvertedPendulum2D | |
| CltCH_Point | |
| COptimalControllerSolver | This class computes the gains for preview control for a given discrete system. The discrete system is defined by three matrix A, b, c such as : |
| CPatternGeneratorInterface | This class is the interface between the Pattern Generator and the external world |
| CPolynome | Class for computing trajectories |
| CPolynome3 | Polynome used for X,Y and Theta trajectories |
| CPolynome4 | Polynome used for Z trajectory |
| CPolynome5 | Polynome used for X,Y and Theta trajectories |
| CPolynome6 | Polynome used for Z trajectory |
| CPreviewControl | Class to implement the preview control |
| CReferenceAbsoluteVelocity_t | Structure to store the absolute reference |
| CRelativeFeetInequalities | Generate a stack of inequalities relative to feet centers for the whole preview window |
| CRelativeFootPosition_s | Structure to store each foot position when the user is specifying a sequence of relative positions |
| Crigid_body_state_s | State vectors |
| CRigidBody | |
| CRigidBodySystem | |
| CStepOverClampedCubicSpline | |
| CStepOverPolynomeFoot | Polynome used for Z trajectory during stepover |
| CStepOverPolynomeFootXtoTime | Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX |
| CStepOverPolynomeFootZtoX | Polynome used for Z trajectory during stepover |
| CStepOverPolynomeHip4 | Polynome for the hip trajectory |
| CStepOverSpline | Spline function calculation class to calculate cubic splines |
| CSupportFeet_s | |
| CSupportFSM | Finite state machine to determine the support parameters |
| CZMPPosition_s | Structure to store each of the ZMP value, with a given direction at a certain time |
| CZMPPreviewControlWithMultiBodyZMP | Object to generate the angle positions every 5 ms from a set of absolute foot positions |