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Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
oNmaal
oNOptimization
|\NSolver
| oCPLDPSolver
| \CPLDPSolverHerdt
oNPatternGeneratorJRLSimulate a rigid body
|oCPatternGeneratorInterfaceThis class is the interface between the Pattern Generator and the external world
|oCCOMPosition_sStructure to store the COM position computed by the preview control
|oCCOMState_sStructure to store the COM state computed by the preview control
|oCRelativeFootPosition_sStructure to store each foot position when the user is specifying a sequence of relative positions
|oCZMPPosition_sStructure to store each of the ZMP value, with a given direction at a certain time
|oCFootAbsolutePosition_tStructure to store the absolute foot position
|oCHandAbsolutePosition_tStructure to store the absolute foot position
|oCLinearConstraintInequality_s
|oCLinearConstraintInequalityFreeFeet_sLinear constraints with variable feet placement
|oCSupportFeet_s
|oCReferenceAbsoluteVelocity_tStructure to store the absolute reference
|oCCircle_tStructure to model a circle (e.g : a stricly convex obstable)
|oCPinocchioRobotFoot_t
|oCPinocchioRobot
|oCAnalyticalZMPCOGTrajectory
|oCBsplinesBspline class
|oCBSplinesFootBsplines used for Z trajectory of stair steps
|oCltCH_Point
|oCCH_Point
|oCComputeConvexHull
|oCFootConstraintsAsLinearSystem
|oCFootHalfSize
|oCIntermedQPMatCustom (value based) container providing intermediate elements for the construction of a QP
||oCobjective_variant_s
||\Cstate_variant_s
|oCPolynomeClass for computing trajectories
|oCPolynomeFoot
|oCPolynome3Polynome used for X,Y and Theta trajectories
|oCPolynome4Polynome used for Z trajectory
|oCPolynome5Polynome used for X,Y and Theta trajectories
|oCPolynome6Polynome used for Z trajectory
|oCPolynome7Polynome used for X,Y and Theta trajectories
|oCRelativeFeetInequalitiesGenerate a stack of inequalities relative to feet centers for the whole preview window
|oCStepOverPolynomeFootPolynome used for Z trajectory during stepover
|oCStepOverPolynomeFootZtoXPolynome used for Z trajectory during stepover
|oCStepOverPolynomeFootXtoTimePolynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX
|oCStepOverPolynomeHip4Polynome for the hip trajectory
|oCStepOverSplineSpline function calculation class to calculate cubic splines
|oCStepOverClampedCubicSpline
|oCLinearizedInvertedPendulum2D
|oCOptimalControllerSolverThis 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 :

\begin{eqnarray*} {\bf x}_{k+1} & =& {\bf A} x_k + {\bf b} u_k \\ p_k &=& {\bf cx}_k\\ \end{eqnarray*}

|oCPreviewControlClass to implement the preview control
|oCRigidBodySystem
|oCrigid_body_state_sState vectors
|oClinear_dynamics_s
|oCRigidBody
|oCSupportFSMFinite state machine to determine the support parameters
|\CZMPPreviewControlWithMultiBodyZMPObject to generate the angle positions every 5 ms from a set of absolute foot positions
oCalist
oCcilist
oCcllist
oCcomplex
oCdoublecomplex
oCicilist
oCinlist
oCMultitype
oCNamelist
oColist
oCPoint
oCt_cmache_
\CVardesc