| Cmomentumopt.kinoptpy.lqr_gain_computation.centroidal_lqr | |
| Cmomentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| Cmomentumopt::Clock | Helper class to measure time required to run an optimization procedure |
| ▼Cmomentumopt::ContactPlanInterface | This class implements a simple interface to store a sequence of contacts, including its activation and de-activation time, position and orientation of the contact, and a variable (set to 1) indicating if the forces at this contact are subject to friction cone constraints or (set to 2) if not, such as in the case of hands grasping bars |
| Cmomentumopt::ContactPlanFromFile | This class implements the ContactPlanInterface by reading a sequence of contacts from a configuration file |
| Cmomentumopt::ContactSequence | This class is a container for a sequence of contact states, for all end-effectors |
| Cmomentumopt::ContactState | This class is a container for all variables required to define a contact state: position and orientation of the contact, time of activation and de-activation of the contact, and a ContactType variable indicating whether, forces are subject to a friction cone (ContactType::FlatContact) or not (ContactType::FullContact) such as in the case of a hand grasping a bar |
| Cmomentumopt::DynamicsFeedbackWrapper | |
| Cmomentumopt::DynamicsOptimizer | |
| Cmomentumopt::DynamicsSequence | This class is a container for a sequence of dynamic states, for all time steps in the optimization |
| Cmomentumopt::DynamicsState | This class is a container for all variables required to define a dynamic state: center of mass position, linear and angular momenta and its rates; forces, torques and center of pressure of the end- effectors; positions, orientations, activations and contact types of each end-effector |
| Cmomentumopt.kinoptpy.end_eff_lqr_gain_computation.end_effector_lqr | |
| Cmomentumopt::FrictionCone | Helper class to define a linear approximation of a friction cone |
| Cmomentumopt::Interpolator | |
| ▼Cmomentumopt::KinematicsInterface | |
| Cmomentumopt.PinocchioKinematicsInterface.PinocchioKinematicsInterface | |
| Cmomentumopt::PyKinematicsInterface | |
| Cmomentumopt::KinematicsOptimizer | |
| Cmomentumopt::KinematicsSequence | This class is a container for a sequence of kinematic states |
| Cmomentumopt::KinematicsState | This class is a container for all variables required to define a kinematics state: joint posture, joint velocities and accelerations, endeffector poses and momentum |
| Cmomentumopt.motion_planner.MotionPlanner | |
| ▼Cobject | |
| Cmomentumopt.kinoptpy.inverse_kinematics.PointContactInverseKinematics | |
| Cmomentumopt.kinoptpy.min_jerk_traj.PolynominalList | |
| Cmomentumopt.kinoptpy.momentum_kinematics_optimizer.Contact | |
| Cmomentumopt.kinoptpy.momentum_kinematics_optimizer.EndeffectorTrajectoryGenerator | |
| Cmomentumopt.kinoptpy.momentum_kinematics_optimizer.JointTrajectoryGenerator | |
| Cmomentumopt.kinoptpy.momentum_kinematics_optimizer.MomentumKinematicsOptimizer | |
| ▼Cmomentumopt.motion_execution.MotionSimulator | |
| Cmomentumopt.motion_execution.MotionExecutor | |
| Cmomentumopt.motion_execution.PDController | |
| ▼Cmomentumopt.quadruped.quadruped_wrapper.BasicRobotWrapper | |
| Cmomentumopt.quadruped.quadruped_wrapper.Quadruped12Wrapper | |
| Cmomentumopt.quadruped.quadruped_wrapper.QuadrupedWrapper | |
| Cmomentumopt.quadruped.simulator.Simulator | |
| ▼COcpBase | |
| Cmomentumopt::DynamicsFeedback | Class that implements the dynamic description of momentum dynamics as an optimal control problem, to be used by an LQR algorithm to derive a feedback sequence |
| Cmomentumopt::PlannerSetting | |
| Cmomentumopt.kinoptpy.min_jerk_traj.Polynomial | |
| Cmomentumopt::Problem | Helper structure used to define common functionality and naming conventions |
| Cmomentumopt.kinoptpy.qp.QpSolver | |
| Cmomentumopt::RobotAcceleration | |
| Cmomentumopt::RobotPosture | |
| Cmomentumopt::RobotVelocity | |
| Cmomentumopt::TerrainDescription | This class is a container for a terrain description in terms of terrain surfaces |
| Cmomentumopt::TerrainRegion | This class is a container for all variables required to define a terrain region |
| Cmomentumopt::TrajectoryGenerator | |
| Cmomentumopt::ViapointSequence | This class is a container for a sequence of viapoint states for all end-effectors |
| Cmomentumopt::ViapointState | This class defines a viapoint state including position and orientation |
1.8.11 
