Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
 Nsobec
 Nnewcontacts
 CContactData1DTpl
 CContactData3DTpl
 CContactModel1DTpl
 CContactModel3DTpl
 CContactModelMultipleTplDefine a stack of contact models
 CDifferentialActionModelContactFwdDynamicsTplDifferential action model for contact forward dynamics in multibody systems
 CResidualModelContactForceTplDefine a contact force residual function
 CActivationModelQuadRefTpl
 CFlex
 CFlexSettings
 CFootTrajectory
 CHorizonManager
 CHorizonManagerSettings
 CIntegratedActionDataLPFTpl
 CIntegratedActionModelLPFTpl
 CModelMaker
 CModelMakerSettings
 CMPCWalk
 CMPCWalkParamsMPC manager, calling iterative subpart of a larger OCP
 COCP
 COCPRobotWrapper
 COCPSettings
 COCPWalk
 COCPWalkParamsOCP builder
 CResidualDataCenterOfFrictionTpl
 CResidualDataCenterOfPressureTpl
 CResidualDataCoMVelocityTpl
 CResidualDataFeetCollisionTpl
 CResidualDataFlyHighTpl
 CResidualDataVelCollisionTpl
 CResidualModelCenterOfFrictionTplCenter of friction residual
 CResidualModelCenterOfPressureTplCOP residual
 CResidualModelCoMVelocityTplCoM velocity residual
 CResidualModelFeetCollisionTplCost penalizing distance between two frames r=||f1.translation-f2.translation||
 CResidualModelFlyHighTplCost penalizing high horizontal velocity near zero altitude
 CResidualModelVelCollisionTpl
 CRobotDesigner
 CRobotDesignerSettings
 CSpatial
 CStateLPFTpl
 CWBC
 CWBCSettings