- _ -

• _ComputeFk : ikfast::IkFastFunctions< T >
• _ComputeIk : ikfast::IkFastFunctions< T >
• _ComputeIk2 : ikfast::IkFastFunctions< T >
• _GetFreeParameters : ikfast::IkFastFunctions< T >
• _GetIkFastVersion : ikfast::IkFastFunctions< T >
• _GetIkRealSize : ikfast::IkFastFunctions< T >
• _GetIkType : ikfast::IkFastFunctions< T >
• _GetKinematicsHash : ikfast::IkFastFunctions< T >
• _GetNumFreeParameters : ikfast::IkFastFunctions< T >
• _GetNumJoints : ikfast::IkFastFunctions< T >
• _listsolutions : ikfast::IkSolutionList< T >
• _vbasesol : ikfast::IkSolution< T >
• _vfree : ikfast::IkSolution< T >

- a -

• acceleration_ : ct::rbd::JointAcceleration< NJOINTS, SCALAR >
• ACT_CONTROL_DIM : ct::rbd::ActuatorDynamics< ACT_STATE_DIMS, NJOINTS, SCALAR >
• ACT_POS_DIM : ct::rbd::ActuatorDynamicsSymplectic< NJOINTS, ACT_STATE_DIMS, SCALAR >
• act_state_ : ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > , ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >
• ACT_STATE_DIM : ct::rbd::ActuatorDynamics< ACT_STATE_DIMS, NJOINTS, SCALAR > , ct::rbd::ActuatorDynamicsSymplectic< NJOINTS, ACT_STATE_DIMS, SCALAR >
• ACT_VEL_DIM : ct::rbd::ActuatorDynamicsSymplectic< NJOINTS, ACT_STATE_DIMS, SCALAR >
• ACTUATOR_STATE_DIM : ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >
• AllJc_ : ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
• anglAcceleration_ : ct::rbd::tpl::RigidBodyAcceleration< SCALAR >

- b -

• BASE : ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR > , ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >
• BASE_DOF : ct::rbd::tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, SCALAR >
• basePose_ : ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >
• baseState_ : ct::rbd::RBDState< NJOINTS, SCALAR >
• baseStateDerivative_ : ct::rbd::RBDAcceleration< NJOINTS, SCALAR >

- c -

• C_ : ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
• c_size_ : ct::rbd::tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, SCALAR >
• CONTROL_DIM : ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM > , ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS > , ct::rbd::JointPositionPIDController< NJOINTS > , ct::rbd::ProjectedDynamics< RBD, NEE > , ct::rbd::ProjectedFDSystem< RBDDynamics, QUAT_INTEGRATION > , ct::rbd::RbdLinearizer< SYSTEM >
• coordinatePtr_ : ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >

- d -

• dynamics_ : ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >

- e -

• ee_indices_ : ct::rbd::tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, SCALAR >
• eeForcesAreControlInputs : ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM > , ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics > , ct::rbd::FloatingBaseSLQ< RBDDynamics >
• eeInContact_ : ct::rbd::tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, SCALAR >

- f -

• FB : ct::rbd::Dynamics< RBD, NEE >
• FLOATING_BASE : ct::rbd::RbdLinearizer< SYSTEM >
• floating_base : iit::TestHyQ::tpl::Traits< SCALAR > , iit::testirb4600::tpl::Traits< SCALAR >
• fmul : ikfast::IkSingleDOFSolutionBase< T >
• foffset : ikfast::IkSingleDOFSolutionBase< T >
• freeind : ikfast::IkSingleDOFSolutionBase< T >

- g -

• G_ : ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >

- i -

• indices : ikfast::IkSingleDOFSolutionBase< T >
• ixx : iit::rbd::Utils::InertiaMoments
• ixy : iit::rbd::Utils::InertiaMoments
• ixz : iit::rbd::Utils::InertiaMoments
• iyy : iit::rbd::Utils::InertiaMoments
• iyz : iit::rbd::Utils::InertiaMoments
• izz : iit::rbd::Utils::InertiaMoments

- j -

• J_ : ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >
• Jacobian : ct::rbd::JacobiSingularity< ROWS, COLS >
• jacobianPtr_ : ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
• jointController_ : ct::rbd::WholeBodyController< NJOINTS >
• jointControllers_ : ct::rbd::JointPositionPIDController< NJOINTS >
• joints_ : ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >
• joints_count : iit::TestHyQ::tpl::Traits< SCALAR > , iit::testirb4600::tpl::Traits< SCALAR >
• jointState_ : ct::rbd::RBDState< NJOINTS, SCALAR >
• jointStateDerivative_ : ct::rbd::RBDAcceleration< NJOINTS, SCALAR >
• jointtype : ikfast::IkSingleDOFSolutionBase< T >

- l -

• LinearAcceleration : ct::rbd::tpl::RigidBodyAcceleration< SCALAR >
• links_count : iit::TestHyQ::tpl::Traits< SCALAR > , iit::testirb4600::tpl::Traits< SCALAR >
• llt_ : ct::rbd::RbdLinearizer< SYSTEM >

- m -

• M_ : ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
• Matrix3s : ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR > , ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >
• MAX_JAC_SIZE : ct::rbd::ProjectedDynamics< RBD, NEE >
• maxNumTrials_ : ct::rbd::InverseKinematicsSettings
• maxsolutions : ikfast::IkSingleDOFSolutionBase< T >
• MInverse_ : ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >

- n -

• N_EE : ct::rbd::Dynamics< RBD, NEE > , ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D > , ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS > , ct::rbd::ProjectedFDSystem< RBDDynamics, QUAT_INTEGRATION > , ct::rbd::TARGET_NS::Utils< SCALAR >
• NDOF : ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > , ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > , ct::rbd::ProjectedDynamics< RBD, NEE > , ct::rbd::RBDState< NJOINTS, SCALAR >
• NJOINTS : ct::rbd::Dynamics< RBD, NEE > , ct::rbd::EEContactModel< Kinematics > , ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM > , ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D > , ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR > , ct::rbd::Kinematics< RBD, N_EE > , ct::rbd::ProjectedDynamics< RBD, NEE > , ct::rbd::RbdLinearizer< SYSTEM > , ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >
• NLINKS : ct::rbd::Dynamics< RBD, NEE > , ct::rbd::Kinematics< RBD, N_EE > , ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >
• NSTATE : ct::rbd::Dynamics< RBD, NEE > , ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > , ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > , ct::rbd::RBDState< NJOINTS, SCALAR >
• NSTATE_QUAT : ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > , ct::rbd::RBDState< NJOINTS, SCALAR >
• NUM_EE : ct::rbd::EEContactModel< Kinematics > , ct::rbd::Kinematics< RBD, N_EE >

- p -

• ptr : ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >

- q -

• quatIntegration : ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics > , ct::rbd::FloatingBaseSLQ< RBDDynamics >

- r -

• randomizeInitialGuess_ : ct::rbd::InverseKinematicsSettings
• RBDState : ct::rbd::IDControllerFB< Dynamics >
• RBDState_t : ct::rbd::tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, SCALAR >
• RBDSystem_ : ct::rbd::RbdLinearizer< SYSTEM >
• ROBCOGEN : ct::rbd::Dynamics< RBD, NEE >

- s -

• S : iit::TestHyQ::tpl::Traits< SCALAR > , iit::testirb4600::tpl::Traits< SCALAR >
• S_ : ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
• Scalar : ct::rbd::ProjectedDynamics< RBD, NEE > , iit::rbd::StateDependentMatrix< State, Rows, Cols, ActualMatrix > , iit::rbd::tpl::InertiaMatrixDense< SCALAR > , iit::TestHyQ::dyn::tpl::ForwardDynamics< TRAIT > , iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT > , iit::TestHyQ::dyn::tpl::InverseDynamics< TRAIT >
• SCALAR : iit::testirb4600::dyn::tpl::ForwardDynamics< TRAIT > , iit::testirb4600::dyn::tpl::InertiaProperties< TRAIT > , iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >
• settings_ : ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >
• state_ : ct::rbd::JointState< NJOINTS, SCALAR > , ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
• STATE_DIM : ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > , ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM > , ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS > , ct::rbd::JointPositionPIDController< NJOINTS > , ct::rbd::ProjectedFDSystem< RBDDynamics, QUAT_INTEGRATION > , ct::rbd::RbdLinearizer< SYSTEM > , ct::rbd::WholeBodyController< NJOINTS >
• state_t : ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >

- t -

• transAcceleration_ : ct::rbd::tpl::RigidBodyAcceleration< SCALAR >

- v -

• validationTol_ : ct::rbd::InverseKinematicsSettings
• Vector6 : ct::rbd::tpl::RigidBodyVelocities< SCALAR >

- x -

• XX : iit::rbd::internal::Mat3x3Coefficients< Scalar > , iit::rbd::internal::SymmMat3x3Coefficients< Scalar >
• XY : iit::rbd::internal::Mat3x3Coefficients< Scalar > , iit::rbd::internal::SymmMat3x3Coefficients< Scalar >
• XZ : iit::rbd::internal::Mat3x3Coefficients< Scalar > , iit::rbd::internal::SymmMat3x3Coefficients< Scalar >

- y -

• YX : iit::rbd::internal::Mat3x3Coefficients< Scalar >
• YY : iit::rbd::internal::Mat3x3Coefficients< Scalar > , iit::rbd::internal::SymmMat3x3Coefficients< Scalar >
• YZ : iit::rbd::internal::Mat3x3Coefficients< Scalar > , iit::rbd::internal::SymmMat3x3Coefficients< Scalar >

- z -

• ZX : iit::rbd::internal::Mat3x3Coefficients< Scalar >
• ZY : iit::rbd::internal::Mat3x3Coefficients< Scalar >
• ZZ : iit::rbd::internal::Mat3x3Coefficients< Scalar > , iit::rbd::internal::SymmMat3x3Coefficients< Scalar >