| ▼NOptimization | |
| ▼NSolver | |
| CPLDPSolver | |
| CPLDPSolverHerdt | |
| ▼NPatternGeneratorJRL | \doc Simulate a rigid body |
| CAnalyticalZMPCOGTrajectory | |
| CBsplines | |
| CBSplinesFoot | Bsplines used for Z trajectory of stair steps |
| CCH_Point | |
| CCircle_t | Structure to model a circle (e.g : a stricly convex obstable) |
| 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 |
| CControlLoopOneStepArgs | |
| CFootAbsolutePosition_t | Structure to store the absolute foot position |
| CFootConstraintsAsLinearSystem | |
| CFootHalfSize | |
| CHandAbsolutePosition_t | Structure to store the absolute foot position |
| ▼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 | |
| CPinocchioRobot | |
| CPinocchioRobotFoot_t | |
| CPolynome | |
| 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 |
| CPolynome7 | Polynome used for X,Y and Theta trajectories |
| CPolynomeFoot | |
| 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 | |
| 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 | |
| CZMPPreviewControlWithMultiBodyZMP | |
| Calist | |
| Ccilist | |
| Ccllist | |
| Ccomplex | |
| Cdoublecomplex | |
| Cicilist | |
| Cinlist | |
| CMultitype | |
| CNamelist | |
| Colist | |
| CPoint | |
| Ct_cmache_ | |
| CVardesc |