- 3.0.2 core module.
File List
Here is a list of all files with brief descriptions:
[detail level 1234567]
 ► build
 ► examples
 ► generated
 ► include
 ► src
 ► test
 CMakeCXXCompilerId.cpp [external]
 CMakeCXXCompilerId.cpp [external]
 CMakeCXXCompilerId.cpp [external]
 feature_tests.cxx [external]
 feature_tests.cxx [external]
 feature_tests.cxx [external]
 CppADCodegenTrait.h [external]
 CppADDoubleTrait.h [external]
 DoubleTrait.h [external]
 FloatTrait.h [external]
 TraitSelector.h [external]
 TraitSelectorSpecs.h [external]
 CodegenOutputDirs.h [external]
 DoubleInvertedPendulum.h [external]
 DoubleInvertedPendulumUrdfNames.h [external]
 derivativeIvState.hpp [external]
 derivativeQddTau.hpp [external]
 fullJacobian.hpp [external]
 HyAInverseDynHessian.cpp [external]
 HyAInverseDynHessian.h [external]
 HyAInverseDynJacForward.cpp [external]
 HyAInverseDynJacForward.h [external]
 HyAInverseDynJacReverse.cpp [external]
 HyAInverseDynJacReverse.h [external]
 HyALinearizedForward-impl.h [external]
 HyALinearizedForward.cpp [external]
 HyALinearizedForward.h [external]
 HyALinearizedReverse.cpp [external]
 HyALinearizedReverse.h [external]
 forward_dynamics.cpp [external]
 forward_dynamics.cpp [external]
 inertia_properties.cpp [external]
 inertia_properties.cpp [external]
 inverse_dynamics.cpp [external]
 inverse_dynamics.cpp [external]
 jsim.cpp [external]
 jsim.cpp [external]
 HyA.h [external]
 HyAInverseKinematics.h [external]
 HyAJointLimits.h [external]
 HyAUrdfNames.h [external]
 HyQBareModelLinearizedForward.cpp [external]
 HyQBareModelLinearizedForward.h [external]
 HyQBareModelLinearizedReverse.cpp [external]
 HyQBareModelLinearizedReverse.h [external]
 HyQContactModelForwardZeroSystem.h [external]
 HyQForwardKinJacForward.cpp [external]
 HyQForwardKinJacForward.h [external]
 HyQForwardKinJacReverse.cpp [external]
 HyQForwardKinJacReverse.h [external]
 HyQForwardZero.cpp [external]
 HyQForwardZero.h [external]
 HyQInverseDynJacForward.cpp [external]
 HyQInverseDynJacForward.h [external]
 HyQInverseDynJacReverse.cpp [external]
 HyQInverseDynJacReverse.h [external]
 HyQWithContactModelLinearizedForward.cpp [external]
 HyQWithContactModelLinearizedForward.h [external]
 HyQWithContactModelLinearizedReverse.cpp [external]
 HyQWithContactModelLinearizedReverse.h [external]
 HyQ.h [external]
 HyQUrdfNames.h [external]
 InvertedPendulumActDynLinearizedForward.cpp [external]
 InvertedPendulumActDynLinearizedForward.h [external]
 InvertedPendulum.h [external]
 InvertedPendulumJointLimits.h [external]
 InvertedPendulumUrdfNames.h [external]
 Irb4600InverseKinematics.h [external]
 Quadrotor.hpp [external]
 quadModelParameters.hpp [external]
 quadVisParameters.hpp [external]
 declarations.hpp [external]
 QuadrotorDynamics.hpp [external]
 QuadrotorLinear.hpp [external]
 QuadrotorWithLoad.h [external]
 QuadrotorWithLoadFDSystem.h [external]
 QuadrotorWithLoadUrdfNames.h [external]
 compareForwardReverse.cpp [external]
 HyALinearizationCodeGen.cpp [external]
 transform6d.cpp [external]
 transform6d.cpp [external]
 compareForwardReverseFD.cpp [external]
 compareForwardReverseID.cpp [external]
 compareForwardReverseKin.cpp [external]
 compareForwardZero.cpp [external]
 helperFunctions.h [external]
 HyQLinearizationCodegen.cpp [external]
 InvertedPendulumWithActuatorCodeGen.cpp [external]
 A_quadrotor.cpp [external]
 B_quadrotor.cpp [external]
 C_quadrotor.cpp [external]
 quadrotor_ode.cpp [external]
 HyATest.cpp [external]
 IKFastTestHyA.cpp [external]
 IKFastTestIrb4600.cpp [external]
 QuadrotorWithLoadTest.cpp [external]
 CheckFunctionExists.cxx [external]
 ConstraintExampleOutput.cpp [external]
 DMS.cpp [external]
 exampleDir.h [external]
 KalmanDisturbanceFiltering.cpp [external]
 KalmanFiltering.cpp [external]
 LQR.cpp [external]
 NLOC.cpp [external]
 NLOC_boxConstrained.cpp [external]
 NLOC_generalConstrained.cpp [external]
 NLOC_MPC.cpp [external]
 NLOC_MPC.cpp [external]
 Nlp2D.cpp [external]
 Nlp3D.cpp [external]
 plotResultsOscillator.h [external]
 plotResultsSwitched.h [external]
 StateSumConstraint.h [external]
 switched_continuous_optcon.cpp [external]
 TestLinearSystem.h [external]
 constraint-impl.h [external]
 constraint.h [external]
 ConstraintContainerAD-impl.h [external]
 ConstraintContainerAD.h [external]
 ConstraintContainerAnalytical-impl.h [external]
 ConstraintContainerAnalytical.h [external]
 ConstraintContainerBase-impl.h [external]
 ConstraintContainerBase.h [external]
 LinearConstraintContainer-impl.h [external]
 LinearConstraintContainer.h [external]
 SwitchedLinearConstraintContainer-impl.h [external]
 SwitchedLinearConstraintContainer.h [external]
 BoxConstraintBase-impl.h [external]
 BoxConstraintBase.h [external]
 ConstraintBase-impl.h [external]
 ConstraintBase.h [external]
 ControlInputConstraint-impl.h [external]
 ControlInputConstraint.h [external]
 ObstacleConstraint-impl.h [external]
 ObstacleConstraint.h [external]
 StateConstraint-impl.h [external]
 StateConstraint.h [external]
 TerminalConstraint-impl.h [external]
 TerminalConstraint.h [external]
 costfun-impl.hpp [external]
 costfun.hpp [external]
 CostFunction-impl.hpp [external]
 CostFunction.hpp [external]
 CostFunctionAD-impl.hpp [external]
 CostFunctionAD.hpp [external]
 CostFunctionAnalytical-impl.hpp [external]
 CostFunctionAnalytical.hpp [external]
 CostFunctionQuadratic-impl.hpp [external]
 CostFunctionQuadratic.hpp [external]
 CostFunctionQuadraticSimple-impl.hpp [external]
 CostFunctionQuadraticSimple.hpp [external]
 TermBase-impl.hpp [external]
 TermBase.hpp [external]
 TermLinear-impl.hpp [external]
 TermLinear.hpp [external]
 TermLoadMacros.hpp [external]
 TermMixed-impl.hpp [external]
 TermMixed.hpp [external]
 TermQuadMult-impl.hpp [external]
 TermQuadMult.hpp [external]
 TermQuadratic-impl.hpp [external]
 TermQuadratic.hpp [external]
 TermQuadTracking-impl.hpp [external]
 TermQuadTracking.hpp [external]
 TermSmoothAbs-impl.hpp [external]
 TermSmoothAbs.hpp [external]
 TermStateBarrier-impl.hpp [external]
 TermStateBarrier.hpp [external]
 utilities.hpp [external]
 ConstraintDiscretizer.h [external]
 ConstraintsContainerDms.h [external]
 ContinuityConstraint.h [external]
 ConstraintsContainerDms-impl.h [external]
 InitStateConstraint.h [external]
 dms.h [external]
 ControllerDms.h [external]
 CostEvaluatorFull.h [external]
 CostEvaluatorSimple.h [external]
 DmsDimensions.h [external]
 DmsProblem.h [external]
 DmsSettings.h [external]
 DmsSolver.h [external]
 OptVectorDms-impl.h [external]
 OptVectorDms.h [external]
 RKnDerivatives.h [external]
 SensitivityIntegratorCT.h [external]
 ShotContainer.h [external]
 LinearSpliner.h [external]
 SplinerBase.h [external]
 ZeroOrderHoldSpliner.h [external]
 TimeGrid.h [external]
 CTSystemModel-impl.h [external]
 CTSystemModel.h [external]
 DisturbedSystem-impl.h [external]
 DisturbedSystem.h [external]
 DisturbedSystemController-impl.h [external]
 DisturbedSystemController.h [external]
 EstimatorBase.h [external]
 ExtendedKalmanFilter-impl.h [external]
 ExtendedKalmanFilter.h [external]
 filter-impl.h [external]
 filter.h [external]
 FilterSettings.h [external]
 InputDisturbedSystem-impl.h [external]
 InputDisturbedSystem.h [external]
 LinearMeasurementModel.h [external]
 LTIMeasurementModel-impl.h [external]
 LTIMeasurementModel.h [external]
 MeasurementModelBase.h [external]
 SteadyStateKalmanFilter-impl.h [external]
 SteadyStateKalmanFilter.h [external]
 SystemModelBase.h [external]
 UnscentedKalmanFilter-impl.h [external]
 UnscentedKalmanFilter.h [external]
 FHDTLQR-impl.hpp [external]
 FHDTLQR.hpp [external]
 LQR-impl.hpp [external]
 LQR.hpp [external]
 CARE-impl.hpp [external]
 CARE.hpp [external]
 DARE-impl.hpp [external]
 DARE.hpp [external]
 DynamicRiccatiEquation.hpp [external]
 matlab.hpp [external]
 MPC-impl.h [external]
 MPC.h [external]
 MpcSettings.h [external]
 MpcTimeKeeper.h [external]
 StateFeedbackPolicyHandler-impl.h [external]
 StateFeedbackPolicyHandler.h [external]
 PolicyHandler-impl.h [external]
 PolicyHandler.h [external]
 MpcTimeHorizon-impl.h [external]
 MpcTimeHorizon.h [external]
 gnmsPlot.m [external]
 MultipleShooting-impl.hpp [external]
 MultipleShooting.hpp [external]
 SingleShooting-impl.hpp [external]
 SingleShooting.hpp [external]
 NLOCAlgorithm.hpp [external]
 NLOCBackendBase-impl.hpp [external]
 NLOCBackendBase.hpp [external]
 NLOCBackendMP-impl.hpp [external]
 NLOCBackendMP.hpp [external]
 NLOCBackendST-impl.hpp [external]
 NLOCBackendST.hpp [external]
 NLOCResults.hpp [external]
 DiscreteConstraintBase.h [external]
 DiscreteConstraintContainerBase.h [external]
 DiscreteCostEvaluatorBase.h [external]
 Nlp.h [external]
 OptVector.h [external]
 IpoptSolver-impl.h [external]
 IpoptSolver.h [external]
 NlpSolver.h [external]
 NlpSolverSettings.h [external]
 SnoptSolver.h [external]
 optcon-prespec.h [external]
 optcon.h [external]
 ContinuousOptConProblem.h [external]
 DiscreteOptConProblem.h [external]
 LQOCProblem-impl.hpp [external]
 LQOCProblem.hpp [external]
 OptConProblemBase-impl.h [external]
 OptConProblemBase.h [external]
 GNRiccatiSolver-impl.hpp [external]
 GNRiccatiSolver.hpp [external]
 HPIPMInterface-impl.hpp [external]
 HPIPMInterface.hpp [external]
 LQOCSolver.hpp [external]
 NLOptConSettings.hpp [external]
 NLOptConSolver-impl.hpp [external]
 NLOptConSolver.hpp [external]
 OptConSolver.h [external]
 OptconContinuousSystemInterface-impl.h [external]
 OptconContinuousSystemInterface.h [external]
 OptconDiscreteSystemInterface-impl.h [external]
 OptconDiscreteSystemInterface.h [external]
 OptconSystemInterface.h [external]
 SnoptSolver.cpp [external]
 ConstraintComparison.cpp [external]
 ConstraintComparison.h [external]
 ConstraintTest.cpp [external]
 ConstraintTest.h [external]
 ConstraintTestPrespec.cpp [external]
 SparseBoxConstraintTest.cpp [external]
 ADTest_timeDependent.h [external]
 compareCostFunctions.h [external]
 CostFunctionTest.h [external]
 CostFunctionTests.cpp [external]
 LoadFromFileTest.cpp [external]
 matFilesGenerator.cpp [external]
 oscDMSTest.cpp [external]
 oscDMSTestAllVariants.cpp [external]
 LqrTest.cpp [external]
 LqrTest.h [external]
 LqrTestPrespec.cpp [external]
 mpc_unittest_plotting.m [external]
 NLOC_MPCTest.cpp [external]
 NLOC_MPCTest.h [external]
 NLOC_MPCTest_prespec.cpp [external]
 ConstrainedNLOCTest.cpp [external]
 LinearSystemSolverComparison.cpp [external]
 LinearSystemSolverComparison.h [external]
 LinearSystemTest.cpp [external]
 LinearSystemTest.h [external]
 LinearSystemTestPrespec.cpp [external]
 DiehlSystem.h [external]
 DiehlSystem.h [external]
 iLQRTest.cpp [external]
 NonlinearSystemTest.cpp [external]
 NonlinearSystemTest.h [external]
 NonlinearSystemTestPrespec.cpp [external]
 SymplecticTest.cpp [external]
 SymplecticTest.h [external]
 SymplecticTestPrespec.cpp [external]
 ConstrainedLQOCSolverTest.cpp [external]
 ConstrainedLQOCSolverTest.h [external]
 HPIPMInterfaceTest.h [external]
 LQOCSolverTest.cpp [external]
 LQOCSolverTest.h [external]
 LQOCSolverTestPrespec.cpp [external]
 LQOCSolverTiming.cpp [external]
 SystemInterfaceTest-Prespec.cpp [external]
 SystemInterfaceTest.cpp [external]
 SystemInterfaceTest.h [external]
 LinearOscillator.h [external]
 LinkedMasses.h [external]
 MIMOIntegrator.h [external]
 SpringLoadedMass.h [external]
 eigen_traits.h [external]
 InertiaMatrix.h [external]
 internals.h [external]
 rbd.h [external]
 rbd.h [external]
 robcogen_commons.h [external]
 StateDependentBase.h [external]
 StateDependentMatrix.h [external]
 TransformsBase.h [external]
 types.h [external]
 utils.h [external]
 JacobiSingularity.h [external]
 JacobiSingularity.h [external]
 SimpleArmTrajectoryGenerator.h [external]
 SingleDOFTrajectoryGenerator.h [external]
 SpatialForceVector.h [external]
 FixBaseNLOC-impl.h [external]
 FixBaseNLOC.h [external]
 FloatingBaseNLOCContactModel-impl.h [external]
 FloatingBaseNLOCContactModel.h [external]
 CoordinateBase.h [external]
 OperationalModel.h [external]
 OperationalModelBase.h [external]
 OperationalModelRBD.h [external]
 EEContactModel.h [external]
 rbd-prespec.h [external]
 ActuatorDynamics.h [external]
 ActuatorDynamicsSymplectic.h [external]
 SEADynamicsFirstOrder-impl.h [external]
 SEADynamicsFirstOrder.h [external]
 SecondOrderActuatorDynamics-impl.h [external]
 SecondOrderActuatorDynamics.h [external]
 IDControllerFB.h [external]
 InfiniteHorizonLQRwithInverseDynamics.h [external]
 JointPositionPIDController-impl.h [external]
 JointPositionPIDController.h [external]
 SelectionMatrix-impl.h [external]
 SelectionMatrix.h [external]
 WholeBodyController-impl.h [external]
 WholeBodyController.h [external]
 TermTaskspaceGeometricJacobian.hpp [external]
 TermTaskspacePose.hpp [external]
 TermTaskspacePoseCG.hpp [external]
 TermTaskspacePosition.hpp [external]
 Dynamics.h [external]
 ConstraintJacobian.h [external]
 FrameJacobian.h [external]
 JacobianBase.h [external]
 OperationalJacobianBase.h [external]
 Kinematics.h [external]
 EndEffector-impl.h [external]
 EndEffector.h [external]
 FloatingBaseTransforms.h [external]
 IKConstraintContainer.h [external]
 IKCostEvaluator.h [external]
 IKNLP.h [external]
 IKNLPSolverIpopt.h [external]
 IKRegularizerBase.h [external]
 JointLimitConstraints.h [external]
 ikfast.h [external]
 InverseKinematicsBase.h [external]
 RBDDataMap.h [external]
 ProjectedDynamics.h [external]
 robcogenHelpers.h [external]
 RobCoGenContainer.h [external]
 FloatingBaseSLQ.h [external]
 FixBaseRobotState.h [external]
 FloatingBaseRobotState.h [external]
 JointAcceleration.h [external]
 JointState.h [external]
 RBDAcceleration.h [external]
 RBDState.h [external]
 RigidBodyAcceleration.h [external]
 RigidBodyPose.h [external]
 RigidBodyState.h [external]
 RigidBodyVelocities.h [external]
 FixBaseAccSystem.h [external]
 FixBaseFDSystem.h [external]
 FixBaseFDSystemSymplectic.h [external]
 FixBaseSystemBase.h [external]
 FixBaseVelSystem.h [external]
 FloatingBaseFDSystem.h [external]
 RbdLinearizer.h [external]
 ProjectedFDSystem.h [external]
 RBDSystem.h [external]
 kindrEulerInverseRotateTest.cpp [external]
 plotResultsTrajectories.h [external]
 SimpleArmTrajectoryGeneratorTest.cpp [external]
 declarations.h [external]
 declarations.h [external]
 declarations.h [external]
 declarations.h [external]
 declarations.h [external]
 declarations.h [external]
 declarations.h [external]
 default_dynparams_getter.h [external]
 default_dynparams_getter.h [external]
 default_dynparams_getter.h [external]
 default_dynparams_getter.h [external]
 default_dynparams_getter.h [external]
 default_dynparams_getter.h [external]
 default_dynparams_getter.h [external]
 dynamics_parameters.h [external]
 dynamics_parameters.h [external]
 dynamics_parameters.h [external]
 dynamics_parameters.h [external]
 dynamics_parameters.h [external]
 dynamics_parameters.h [external]
 dynamics_parameters.h [external]
 forward_dynamics.h [external]
 forward_dynamics.h [external]
 forward_dynamics.h [external]
 forward_dynamics.h [external]
 forward_dynamics.h [external]
 forward_dynamics.h [external]
 forward_dynamics.h [external]
 forward_dynamics.impl.h [external]
 forward_dynamics.impl.h [external]
 forward_dynamics.impl.h [external]
 forward_dynamics.impl.h [external]
 forward_dynamics.impl.h [external]
 forward_dynamics.impl.h [external]
 forward_dynamics.impl.h [external]
 inertia_properties.h [external]
 inertia_properties.h [external]
 inertia_properties.h [external]
 inertia_properties.h [external]
 inertia_properties.h [external]
 inertia_properties.h [external]
 inertia_properties.h [external]
 inertia_properties.impl.h [external]
 inertia_properties.impl.h [external]
 inertia_properties.impl.h [external]
 inertia_properties.impl.h [external]
 inertia_properties.impl.h [external]
 inertia_properties.impl.h [external]
 inertia_properties.impl.h [external]
 inverse_dynamics.h [external]
 inverse_dynamics.h [external]
 inverse_dynamics.h [external]
 inverse_dynamics.h [external]
 inverse_dynamics.h [external]
 inverse_dynamics.h [external]
 inverse_dynamics.h [external]
 inverse_dynamics.impl.h [external]
 inverse_dynamics.impl.h [external]
 inverse_dynamics.impl.h [external]
 inverse_dynamics.impl.h [external]
 inverse_dynamics.impl.h [external]
 inverse_dynamics.impl.h [external]
 inverse_dynamics.impl.h [external]
 joint_data_map.h [external]
 joint_data_map.h [external]
 joint_data_map.h [external]
 joint_data_map.h [external]
 joint_data_map.h [external]
 joint_data_map.h [external]
 joint_data_map.h [external]
 jsim.h [external]
 jsim.h [external]
 jsim.h [external]
 jsim.h [external]
 jsim.h [external]
 jsim.h [external]
 jsim.h [external]
 jsim.impl.h [external]
 jsim.impl.h [external]
 jsim.impl.h [external]
 jsim.impl.h [external]
 jsim.impl.h [external]
 jsim.impl.h [external]
 jsim.impl.h [external]
 kinematics_parameters.h [external]
 kinematics_parameters.h [external]
 kinematics_parameters.h [external]
 kinematics_parameters.h [external]
 kinematics_parameters.h [external]
 kinematics_parameters.h [external]
 kinematics_parameters.h [external]
 link_data_map.h [external]
 link_data_map.h [external]
 link_data_map.h [external]
 link_data_map.h [external]
 link_data_map.h [external]
 link_data_map.h [external]
 link_data_map.h [external]
 miscellaneous.cpp [external]
 miscellaneous.cpp [external]
 miscellaneous.cpp [external]
 miscellaneous.cpp [external]
 miscellaneous.cpp [external]
 miscellaneous.cpp [external]
 miscellaneous.cpp [external]
 miscellaneous.h [external]
 miscellaneous.h [external]
 miscellaneous.h [external]
 miscellaneous.h [external]
 miscellaneous.h [external]
 miscellaneous.h [external]
 miscellaneous.h [external]
 traits.h [external]
 traits.h [external]
 traits.h [external]
 traits.h [external]
 traits.h [external]
 traits.h [external]
 traits.h [external]
 RobCoGenTestHyQ.h [external]
 Irb4600JointLimits.h [external]
 RobCoGenTestIrb4600.h [external]
 OperationalSpaceTest.cpp [external]
 EEContactModelTest.cpp [external]
 kindrJITtest.cpp [external]
 kindrJITtest.h [external]
 rbdJITtests.cpp [external]
 rbdJITtests.h [external]
 TaskspaceCostFunctionTest.cpp [external]
 TaskspaceCostFunctionTest.h [external]
 DataMapTests.cpp [external]
 DynamicsTests.cpp [external]
 DynamicsTestsFixBase.cpp [external]
 JacobianTests.cpp [external]
 EEKinematicsTest.cpp [external]
 FixBaseIKTest.cpp [external]
 KinematicsTest.cpp [external]
 KinematicsTestAd.cpp [external]
 RobCoGenContainerTest.cpp [external]
 JointStateTest.cpp [external]
 RigidBodyPoseTest.cpp [external]
 RobotStateTest.cpp [external]
 FixBaseFDSystemTest.cpp [external]
 FloatingBaseFDSystemTest.cpp [external]
 RBDLinearizerTest.cpp [external]
 ProjectedFDSystemTest.cpp [external]