| Cct::rbd::ActuatorDynamics< ACT_STATE_DIMS, NJOINTS, SCALAR > | |
| ►Cct::rbd::ActuatorDynamics< 2 *NJOINTS, NJOINTS, SCALAR > | |
| Cct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR > | |
| ►Cct::rbd::ActuatorDynamics< NJOINTS, NJOINTS, SCALAR > | |
| Cct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR > | |
| Cct::rbd::ActuatorDynamicsSymplectic< NJOINTS, ACT_STATE_DIMS, SCALAR > | |
| ►Cct::core::Controller< 2 *6+2 *NJOINTS, NJOINTS > [external] | |
| Cct::rbd::WholeBodyController< NJOINTS > | |
| ►Cct::core::Controller< 2 *NJOINTS, NJOINTS > [external] | |
| Cct::rbd::JointPositionPIDController< NJOINTS > | A joint position controller using a PID controller for all joints |
| ►Cct::core::Controller< RBDDynamics::NSTATE, RBDDynamics::NJOINTS > [external] | |
| Cct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics > | |
| Cct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS > | |
| Ciit::rbd::Core< SCALAR > | |
| Ciit::rbd::Utils::CwiseAlmostZeroOp< Scalar > | |
| ►Cct::optcon::tpl::DiscreteConstraintBase< SCALAR > [external] | |
| Cct::rbd::JointLimitConstraints< KINEMATICS, SCALAR > | Inverse Kinematics joint limit constraints |
| ►Cct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR > [external] | |
| Cct::rbd::IKConstraintsContainer< KINEMATICS, SCALAR > | Inverse Kinematics constraint container |
| ►Cct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR > [external] | |
| Cct::rbd::IKCostEvaluator< KINEMATICS, SCALAR > | Inverse Kinematics cost evaluator for NLP |
| Ciit::rbd::DoubleTrait | |
| Cct::rbd::Dynamics< RBD, NEE > | This class implements the equations of motion of a Rigid Body System |
| Cct::rbd::EEContactModel< Kinematics > | A soft contact model that only uses end-effector positions/velocities to compute the contact force |
| Cct::rbd::EndEffector< NJOINTS, SCALAR > | |
| Cct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM > | NLOC for fixed base systems without an explicit contact model |
| Cct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > | Whole fix base robot state, i.e. Joint state, Actuator Dynamics (and fix-base pose) |
| Cct::rbd::FloatingBaseNLOCContactModel< RBDDynamics > | NLOC for floating base systems with an explicit contact model |
| Cct::rbd::FloatingBaseSLQ< RBDDynamics > | SLQ for floating base systems without an explicit contact model. The contact constraint is enforced via a cost function |
| Cct::rbd::FloatingBaseTransforms< RBD > | |
| Ciit::rbd::FloatTrait | |
| Ciit::testirb4600::dyn::tpl::ForwardDynamics< TRAIT > | |
| Ciit::TestHyQ::dyn::tpl::ForwardDynamics< TRAIT > | |
| Cct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR > | This class provides methods for converting the non-inertia base frame Jacobian matrix to an user defined inertia frame (called as inertia frame) |
| Cct::rbd::IDControllerFB< Dynamics > | |
| Cikfast::IkFastFunctions< T > | Holds function pointers for all the exported functions of ikfast |
| CIKRegularizerBase | |
| Cikfast::IkSingleDOFSolutionBase< T > | Holds the solution for a single dof |
| ►Cikfast::IkSolutionBase< T > | The discrete solutions are returned in this structure |
| Cikfast::IkSolution< T > | Default implementation of IkSolutionBase |
| ►Cikfast::IkSolutionListBase< T > | Manages all the solutions |
| Cikfast::IkSolutionList< T > | Default implementation of IkSolutionListBase |
| Ciit::rbd::Utils::InertiaMoments | |
| Ciit::testirb4600::dyn::tpl::InertiaProperties< TRAIT > | |
| Ciit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT > | |
| Ciit::testirb4600::dyn::tpl::InverseDynamics< TRAIT > | |
| Ciit::TestHyQ::dyn::tpl::InverseDynamics< TRAIT > | |
| Cct::rbd::InverseKinematicsBase< NJOINTS, SCALAR > | |
| Cct::rbd::InverseKinematicsBase< 6, SCALAR > | |
| ►Cct::rbd::InverseKinematicsBase< IKNLP::Kinematics_t::NJOINTS, IKNLP::Scalar_t > | |
| Cct::rbd::IKNLPSolverIpopt< IKNLP, VALIDATION_KIN > | |
| Cct::rbd::InverseKinematicsSettings | |
| ►Cct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR > | |
| ►Cct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR > | |
| CTestJacobian | |
| Cct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS > | |
| ►Cct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR > | |
| Cct::rbd::tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, SCALAR > | |
| ►Cct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, Scalar > | |
| ►Cct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, Scalar > | |
| Cct::rbd::tpl::ConstraintJacobian< ct::rbd::Kinematics< RBD, NEE >, MAX_JAC_SIZE, NJOINTS, Scalar > | |
| Cct::rbd::JacobiSingularity< ROWS, COLS > | A class computing codition numbers and singular velues of a Jacobian |
| Cct::rbd::JointAcceleration< NJOINTS, SCALAR > | Joint acceleration |
| Ciit::testirb4600::JointDataMap< T > | |
| Ciit::TestHyQ::JointDataMap< T > | |
| Cct::rbd::JointState< NJOINTS, SCALAR > | Joint state and joint velocity |
| Cct::rbd::JointState< NJOINTS, double > | |
| Cct::rbd::JointState< NJOINTS, Scalar > | |
| Cct::rbd::Kinematics< RBD, N_EE > | A general class for computing Kinematic properties |
| Cct::rbd::Kinematics< RBD, NEE > | |
| Ciit::TestHyQ::LinkDataMap< T > | |
| Ciit::testirb4600::LinkDataMap< T > | |
| Ciit::rbd::internal::Mat3x3Coefficients< Scalar > | |
| ►CMatrix | |
| Cct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR > | Selection Matrix for a Rigid Body Dynamics System |
| Cct::rbd::SpatialForceVector< SCALAR > | A spatial force vector This vector contains a torque (angular) in the upper three rows and a linear force in the lower three rows |
| Cct::rbd::SelectionMatrix< NJOINTS, NSTATE/2, SCALAR > | |
| ►CMatrix66 | |
| Ciit::rbd::tpl::InertiaMatrixDense< SCALAR > | |
| Ciit::rbd::tpl::InertiaMatrixDense< Scalar > | |
| ►Cct::optcon::tpl::Nlp< SCALAR > [external] | |
| Cct::rbd::IKNLP< KINEMATICS, SCALAR > | |
| ►Cct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS > | |
| Cct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS > | This is the class for the operational space model which gives access to the operational model parameter. The model is assumed to have the following form:  where  is the acceleration of the operational space coordinate |
| Cct::rbd::OperationalModelBase< NUM_JOINTS+6, NUM_JOINTS, NUM_CONTACTPOINTS > | |
| ►Cct::rbd::OperationalModelBase< RBDContainer::NJOINTS+6, RBDContainer::NJOINTS, NUM_CONTACTPOINTS > | |
| Cct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR > | This is a class for expressing the RBD equations of an articulated robot as an operational model. It uses the RBDContainer class as an interface to access the generated code for an articulated robot |
| ►CPlainMatrix | |
| Ciit::rbd::StateDependentMatrix< State, Rows, Cols, ActualMatrix > | |
| ►Ciit::rbd::StateDependentMatrix< iit::TestHyQ::tpl::JointState< TRAIT::Scalar >, 18, 18, JSIM< TRAIT > > | |
| Ciit::TestHyQ::dyn::tpl::JSIM< TRAIT > | |
| ►Ciit::rbd::StateDependentMatrix< iit::testirb4600::JointState, 6, 6, JSIM< TRAIT > > | |
| Ciit::testirb4600::dyn::tpl::JSIM< TRAIT > | |
| ►Ciit::rbd::StateDependentMatrix< State, 3, 3, ActualMatrix > | |
| Ciit::rbd::RotationTransformBase< State, ActualMatrix > | |
| ►Ciit::rbd::StateDependentMatrix< State, 4, 4, ActualMatrix > | |
| Ciit::rbd::HomogeneousTransformBase< State, ActualMatrix > | |
| ►Ciit::rbd::StateDependentMatrix< State, 6, 6, ActualMatrix > | |
| Ciit::rbd::SpatialTransformBase< State, ActualMatrix > | |
| ►Ciit::rbd::StateDependentMatrix< State, 6, Cols, ActualMatrix > | |
| Ciit::rbd::JacobianBase< State, Cols, ActualMatrix > | |
| Cprint_size_as_warning< N > | System Linearizer dedicated to Articulated Rigid Body Model |
| Cct::rbd::ProjectedDynamics< RBD, NEE > | |
| Cct::rbd::RBDAcceleration< NJOINTS, SCALAR > | Joint acceleration and base acceleration |
| Cct::rbd::RBDDataMap< T, N > | A very simple container to associate N generic data item T |
| Cct::rbd::RBDDataMap< bool, NEE > | |
| ►Cct::rbd::RBDState< NJOINTS, SCALAR > | Joint states and base states |
| Cct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > | Whole robot state, i.e. RBDState and Actuator Dynamics |
| Cct::rbd::RBDState< NJOINTS, Scalar > | |
| Cct::rbd::RBDState< NUM_JOINTS > | |
| Cct::rbd::RBDState< NUM_JOINTS, Scalar > | |
| Cct::rbd::RBDState< NUM_JOINTS, SCALAR > | |
| ►Cct::rbd::RBDSystem< RBDDynamics, QUAT_INTEGRATION > | This is a common interface class for an RBDSystem |
| Cct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS > | A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world |
| Cct::rbd::ProjectedFDSystem< RBDDynamics, QUAT_INTEGRATION > | A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world |
| ►Cct::rbd::RBDSystem< RBDDynamics, false > | |
| Cct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | A fix base rigid body system that uses forward dynamics |
| Cct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D > | Base class for fix-base robot systems |
| ►Cct::rbd::FixBaseSystemBase< RBDDynamics, 2 *RBDDynamics::NJOINTS, RBDDynamics::NJOINTS > | |
| Cct::rbd::FixBaseAccSystem< RBDDynamics > | A simple fix base robot system which is purely kinematic and actuated at ACCELERATION level |
| ►Cct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NJOINTS, RBDDynamics::NJOINTS > | |
| Cct::rbd::FixBaseVelSystem< RBDDynamics > | A simple fix base robot system which is purely kinematic and actuated at VELOCITY level |
| ►Cct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | |
| Cct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | A fix base rigid body system that uses forward dynamics |
| Cct::rbd::tpl::RigidBodyAcceleration< SCALAR > | Acceleration of a rigid body |
| Cct::rbd::tpl::RigidBodyPose< SCALAR > | Pose of a single rigid body |
| Cct::rbd::tpl::RigidBodyPose< double > | |
| Cct::rbd::tpl::RigidBodyPose< Scalar > | |
| Cct::rbd::tpl::RigidBodyState< SCALAR > | State (pose and velocities) of a single rigid body |
| Cct::rbd::tpl::RigidBodyState< double > | |
| Cct::rbd::tpl::RigidBodyState< Scalar > | |
| Cct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U > | Container class containing all robcogen classes |
| Ciit::TestHyQ::dyn::RuntimeInertiaParams | |
| Ciit::testirb4600::dyn::RuntimeInertiaParams | |
| ►Ciit::TestHyQ::dyn::RuntimeParamsGetter | |
| Ciit::TestHyQ::dyn::DefaultParamsGetter | |
| ►Ciit::testirb4600::dyn::RuntimeParamsGetter | |
| Ciit::testirb4600::dyn::DefaultParamsGetter | |
| Cct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR > | |
| Cct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR > | |
| ►CSparseMatrix | |
| Ciit::rbd::tpl::InertiaMatrixSparse< SCALAR > | |
| Ciit::rbd::StateDependentBase< State, Actual > | |
| ►Ciit::rbd::StateDependentBase< iit::TestHyQ::tpl::JointState< TRAIT::Scalar >, JSIM< TRAIT > > | |
| Ciit::rbd::StateDependentMatrix< iit::TestHyQ::tpl::JointState< TRAIT::Scalar >, 18, 18, JSIM< TRAIT > > | |
| ►Ciit::rbd::StateDependentBase< iit::testirb4600::JointState, JSIM< TRAIT > > | |
| Ciit::rbd::StateDependentMatrix< iit::testirb4600::JointState, 6, 6, JSIM< TRAIT > > | |
| ►Ciit::rbd::StateDependentBase< State, ActualMatrix > | |
| Ciit::rbd::StateDependentMatrix< State, Rows, Cols, ActualMatrix > | |
| Ciit::rbd::StateDependentMatrix< State, 3, 3, ActualMatrix > | |
| Ciit::rbd::StateDependentMatrix< State, 4, 4, ActualMatrix > | |
| Ciit::rbd::StateDependentMatrix< State, 6, 6, ActualMatrix > | |
| Ciit::rbd::StateDependentMatrix< State, 6, Cols, ActualMatrix > | |
| Ciit::rbd::internal::SymmMat3x3Coefficients< Scalar > | |
| ►Cct::core::System< STATE_DIM, SCALAR > [external] | |
| Cct::core::ControlledSystem< POS_DIM+VEL_DIM, CONTROL_DIM, SCALAR > [external] | |
| Cct::core::ControlledSystem< POS_DIM+VEL_DIM, CONTROL_DIM, SCALAR > [external] | |
| ►Cct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > [external] | |
| ►Cct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > [external] | |
| Cct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | A fix base rigid body system that uses forward dynamics |
| ►Cct::core::ControlledSystem< RBDDynamics::NSTATE+QUAT_INTEGRATION, RBDDynamics::NJOINTS, RBDDynamics::SCALAR > [external] | |
| Cct::rbd::ProjectedFDSystem< RBDDynamics, QUAT_INTEGRATION > | A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world |
| ►Cct::core::ControlledSystem< RBDDynamics::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > [external] | |
| ►Cct::core::SymplecticSystem< RBDDynamics::NSTATE/2+QUAT_INTEGRATION, RBDDynamics::NSTATE/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > [external] | |
| Cct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS > | A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world |
| ►Cct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > [external] | |
| Cct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D > | Base class for fix-base robot systems |
| Cct::rbd::FixBaseSystemBase< RBDDynamics, 2 *RBDDynamics::NJOINTS, RBDDynamics::NJOINTS > | |
| Cct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NJOINTS, RBDDynamics::NJOINTS > | |
| Cct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | |
| ►Cct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > [external] | |
| ►Cct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR > [external] | |
| ►Cct::core::SystemLinearizer< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR > [external] | |
| Cct::rbd::RbdLinearizer< SYSTEM > | |
| ►Cct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double > [external] | |
| Cct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > | A costfunction term that defines a cost on a task-space pose, for fix-base robots only |
| Ciit::TestHyQ::tpl::Traits< SCALAR > | |
| Ciit::testirb4600::tpl::Traits< SCALAR > | |
| CEigen::internal::traits< iit::rbd::HomogeneousTransformBase< State, M > > | |
| CEigen::internal::traits< iit::rbd::RotationTransformBase< State, M > > | |
| Ciit::rbd::tpl::TraitSelector< SCALAR > | |
| Ciit::rbd::tpl::TraitSelector< double > | |
| Ciit::rbd::tpl::TraitSelector< float > | |
| ►CTwistLinearVelocityLocalAngularVelocity | |
| Cct::rbd::tpl::RigidBodyVelocities< SCALAR > | Representation of Rigid Body Velocities, currently just a typedef |
| Cct::rbd::tpl::RigidBodyVelocities< double > | |
| Cct::rbd::tpl::RigidBodyVelocities< Scalar > | |
| Cct::rbd::TARGET_NS::Utils< SCALAR > | |
| Ciit::rbd::Utils | |
1.8.13