crocoddyl
1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
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N
crocoddyl
C
ActionDataAbstractTpl
C
ActionDataCodeGenTpl
C
ActionDataImpulseFwdDynamicsTpl
C
ActionDataLQRTpl
C
ActionDataNumDiffTpl
C
ActionDataUnicycleTpl
C
ActionModelAbstractTpl
Abstract class for action model
C
ActionModelCodeGenTpl
C
ActionModelImpulseFwdDynamicsTpl
Action model for impulse forward dynamics in multibody systems
C
ActionModelLQRTpl
C
ActionModelNumDiffTpl
This class computes the numerical differentiation of an action model
C
ActionModelUnicycleTpl
C
ActivationBoundsTpl
C
ActivationData2NormBarrierTpl
C
ActivationDataAbstractTpl
C
ActivationDataNumDiffTpl
C
ActivationDataQuadFlatExpTpl
C
ActivationDataQuadFlatLogTpl
C
ActivationDataQuadraticBarrierTpl
C
ActivationDataSmooth1NormTpl
C
ActivationDataSmooth2NormTpl
C
ActivationDataSmoothAbsTpl
C
ActivationDataWeightedQuadTpl
C
ActivationModel2NormBarrierTpl
2-norm barrier activation
C
ActivationModelAbstractTpl
C
ActivationModelNumDiffTpl
C
ActivationModelQuadFlatExpTpl
C
ActivationModelQuadFlatLogTpl
Quadratic-flat-log activation
C
ActivationModelQuadraticBarrierTpl
C
ActivationModelQuadTpl
C
ActivationModelSmooth1NormTpl
Smooth-abs activation
C
ActivationModelSmooth2NormTpl
Smooth-2Norm activation
C
ActivationModelSmoothAbsTpl
C
ActivationModelWeightedQuadraticBarrierTpl
C
ActivationModelWeightedQuadTpl
C
ActuationDataAbstractTpl
C
ActuationDataNumDiffTpl
C
ActuationModelAbstractTpl
Abstract class for the actuation-mapping model
C
ActuationModelFloatingBaseTpl
Floating-base actuation model
C
ActuationModelFullTpl
Full actuation model
C
ActuationModelMultiCopterBaseTpl
Multicopter actuation model
C
ActuationModelNumDiffTpl
This class computes the numerical differentiation of an actuation model
C
ActuationSquashingDataTpl
C
ActuationSquashingModelTpl
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
ContactData1DTpl
C
ContactData2DTpl
C
ContactData3DTpl
C
ContactData6DTpl
C
ContactDataAbstractTpl
C
ContactDataMultipleTpl
Define the multi-contact data
C
ContactDataNumDiffTpl
C
ContactItemTpl
C
ContactModel1DTpl
C
ContactModel2DTpl
C
ContactModel3DTpl
C
ContactModel6DTpl
C
ContactModelAbstractTpl
C
ContactModelMultipleTpl
Define a stack of contact models
C
ContactModelNumDiffTpl
C
ControlParametrizationDataAbstractTpl
C
ControlParametrizationDataNumDiffTpl
C
ControlParametrizationDataPolyOneTpl
C
ControlParametrizationDataPolyTwoRKTpl
C
ControlParametrizationModelAbstractTpl
Abstract class for the control trajectory parametrization
C
ControlParametrizationModelNumDiffTpl
C
ControlParametrizationModelPolyOneTpl
A polynomial function of time of degree one, that is a linear function
C
ControlParametrizationModelPolyTwoRKTpl
A polynomial function of time of degree two, that is a quadratic function
C
ControlParametrizationModelPolyZeroTpl
A polynomial function of time of degree zero, that is a constant
C
CoPSupportTpl
This class encapsulates a center of pressure support of a 6d contact
C
CostDataAbstractTpl
C
CostDataNumDiffTpl
C
CostDataResidualTpl
C
CostDataSumTpl
C
CostItemTpl
C
CostModelAbstractTpl
Abstract class for cost models
C
CostModelCentroidalMomentumTpl
Centroidal momentum cost
C
CostModelCoMPositionTpl
CoM position cost
C
CostModelContactCoPPositionTpl
Define a center of pressure cost function
C
CostModelContactForceTpl
Define a contact force cost function
C
CostModelContactFrictionConeTpl
Contact friction cone cost
C
CostModelContactImpulseTpl
Define a contact impulse cost function
C
CostModelContactWrenchConeTpl
C
CostModelControlGravContactTpl
Control gravity cost
C
CostModelControlGravTpl
Control gravity cost
C
CostModelControlTpl
Control cost
C
CostModelFramePlacementTpl
Frame placement cost
C
CostModelFrameRotationTpl
Frame rotation cost
C
CostModelFrameTranslationTpl
Frame translation cost
C
CostModelFrameVelocityTpl
Frame velocity cost
C
CostModelImpulseCoMTpl
Impulse CoM cost
C
CostModelImpulseCoPPositionTpl
Define a center of pressure cost function
C
CostModelImpulseFrictionConeTpl
Impulse friction cone cost
C
CostModelImpulseWrenchConeTpl
C
CostModelNumDiffTpl
This class computes the numerical differentiation of a cost model
C
CostModelResidualTpl
Residual-based cost
C
CostModelStateTpl
State cost
C
CostModelSumTpl
Summation of individual cost models
C
DataCollectorAbstractTpl
C
DataCollectorActMultibodyInContactTpl
C
DataCollectorActMultibodyTpl
C
DataCollectorActuationTpl
C
DataCollectorContactTpl
C
DataCollectorImpulseTpl
C
DataCollectorMultibodyInContactTpl
C
DataCollectorMultibodyInImpulseTpl
C
DataCollectorMultibodyTpl
C
DifferentialActionDataAbstractTpl
C
DifferentialActionDataContactFwdDynamicsTpl
C
DifferentialActionDataFreeFwdDynamicsTpl
C
DifferentialActionDataLQRTpl
C
DifferentialActionDataNumDiffTpl
C
DifferentialActionModelAbstractTpl
Abstract class for differential action model
C
DifferentialActionModelContactFwdDynamicsTpl
Differential action model for contact forward dynamics in multibody systems
C
DifferentialActionModelFreeFwdDynamicsTpl
Differential action model for free forward dynamics in multibody systems
C
DifferentialActionModelLQRTpl
C
DifferentialActionModelNumDiffTpl
This class computes the numerical differentiation of a differential action model
C
Exception
C
ForceDataAbstractTpl
C
FrameCoPSupportTpl
C
FrameForceTpl
C
FrameFrictionConeTpl
C
FrameMotionTpl
C
FramePlacementTpl
C
FrameRotationTpl
C
FrameTranslationTpl
C
FrameWrenchConeTpl
C
FrictionConeTpl
This class encapsulates a friction cone
C
ImpulseData3DTpl
C
ImpulseData6DTpl
C
ImpulseDataAbstractTpl
C
ImpulseDataMultipleTpl
Define the multi-impulse data
C
ImpulseItemTpl
C
ImpulseModel3DTpl
C
ImpulseModel6DTpl
C
ImpulseModelAbstractTpl
C
ImpulseModelMultipleTpl
Define a stack of impulse models
C
IntegratedActionDataAbstractTpl
C
IntegratedActionDataEulerTpl
C
IntegratedActionDataRK4Tpl
C
IntegratedActionDataRKTpl
C
IntegratedActionModelAbstractTpl
Abstract class for an integrated action model
C
IntegratedActionModelEulerTpl
Symplectic Euler integrator
C
IntegratedActionModelRK4Tpl
Standard RK4 integrator
C
IntegratedActionModelRKTpl
Standard RK integrator
C
MathBaseTpl
C
ResidualDataAbstractTpl
C
ResidualDataCentroidalMomentumTpl
C
ResidualDataCoMPositionTpl
C
ResidualDataContactControlGravTpl
C
ResidualDataContactCoPPositionTpl
C
ResidualDataContactForceTpl
C
ResidualDataContactFrictionConeTpl
C
ResidualDataContactWrenchConeTpl
C
ResidualDataControlGravTpl
C
ResidualDataControlTpl
C
ResidualDataFramePlacementTpl
C
ResidualDataFrameRotationTpl
C
ResidualDataFrameTranslationTpl
C
ResidualDataFrameVelocityTpl
C
ResidualDataImpulseCoMTpl
C
ResidualDataNumDiffTpl
C
ResidualDataStateTpl
C
ResidualModelAbstractTpl
Abstract class for residual models
C
ResidualModelCentroidalMomentumTpl
Centroidal momentum residual
C
ResidualModelCoMPositionTpl
CoM position residual
C
ResidualModelContactControlGravTpl
Control gravity residual under contact
C
ResidualModelContactCoPPositionTpl
Center of pressure residual function
C
ResidualModelContactForceTpl
Define a contact force residual function
C
ResidualModelContactFrictionConeTpl
Contact friction cone residual
C
ResidualModelContactWrenchConeTpl
Contact wrench cone residual function
C
ResidualModelControlGravTpl
Control gravity residual
C
ResidualModelControlTpl
Define a control residual
C
ResidualModelFramePlacementTpl
Frame placement residual
C
ResidualModelFrameRotationTpl
Frame rotation residual
C
ResidualModelFrameTranslationTpl
Frame translation residual
C
ResidualModelFrameVelocityTpl
Frame velocity residual
C
ResidualModelImpulseCoMTpl
Impulse CoM residual
C
ResidualModelNumDiffTpl
This class computes the numerical differentiation of a residual model
C
ResidualModelStateTpl
State residual
C
ShootingProblemTpl
This class encapsulates a shooting problem
C
SimpleQuadrupedGaitProblem
C
SolverAbstract
Abstract class for optimal control solvers
C
SolverBoxDDP
C
SolverBoxFDDP
C
SolverDDP
Differential Dynamic Programming (DDP) solver
C
SolverFDDP
Feasibility-driven Differential Dynamic Programming (FDDP) solver
C
SolverKKT
C
SquashingDataAbstractTpl
C
SquashingModelAbstractTpl
C
SquashingModelSmoothSatTpl
C
StateAbstractTpl
Abstract class for the state representation
C
StateMultibodyTpl
State multibody representation
C
StateNumDiffTpl
C
StateVectorTpl
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C
Stopwatch
A class representing a stopwatch
C
PerformanceData
Struct to hold the performance data
C
StopwatchException
C
Timer
C
WrenchConeTpl
This class encapsulates a wrench cone
C
CsvStream
C
pseudoInverseAlgo
C
pseudoInverseAlgo< MatrixLike, false >
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