| ►Netools | This namespace contains various functions operating on Eigen matrices and vectors |
| CBlockKroneckerProductBase | Represents block kronecker product "Identity(size) [X] Matrix" |
| CBlockKroneckerProductBase< t_MatrixType, 1, 1, MatrixSparsityType::LEFT_LOWER_TRIANGULAR > | Represents block kronecker product "Identity(size) [X] Matrix", without computing it explicitly |
| CBlockKroneckerProductBase< t_MatrixType, 1, 1, t_sparsity_type > | Represents block kronecker product "Identity(size) [X] Matrix", without computing it explicitly |
| CBlockKroneckerProductBase< t_MatrixType, t_block_rows_num, t_block_cols_num, MatrixSparsityType::LEFT_LOWER_TRIANGULAR > | Represents block kronecker product "Identity(size) [X] Matrix", without computing it explicitly |
| CBlockMatrix | Block matrix, the raw matrix is stored inside (not a reference) |
| CBlockMatrixAccessBase | Block matrix basic functions |
| CBlockMatrixBase | Base class of a block matrix |
| CBlockMatrixBase< t_MatrixType, 1, 1, MatrixSparsityType::LEFT_LOWER_TRIANGULAR > | Base class of a block matrix |
| CBlockMatrixBase< t_MatrixType, t_block_rows_num, t_block_cols_num, MatrixSparsityType::DIAGONAL > | Base class of a block matrix |
| CBlockMatrixBase< t_MatrixType, t_block_rows_num, t_block_cols_num, MatrixSparsityType::LEFT_LOWER_TRIANGULAR > | Base class of a block matrix |
| CBlockMatrixInterface | Provides block interface for arbitrary Matrix without copying it. |
| CBlockMatrixMap | Blocked access to an Eigen::Map. Quick hack – use with care |
| CBlockMatrixSizeSpecificBase | Extra layer for handling of specific sizes of blocks using partial template specialization |
| CBlockMatrixSizeSpecificBase< t_MatrixType, 1, 1 > | Extra layer for handling of specific sizes of blocks using partial template specialization |
| CBlockMatrixSizeSpecificBase< t_MatrixType, MatrixBlockSizeType::DYNAMIC, MatrixBlockSizeType::DYNAMIC > | Extra layer for handling of specific sizes of blocks using partial template specialization |
| CBlockMatrixSizeSpecificBase< t_MatrixType, MatrixBlockSizeType::DYNAMIC, t_block_cols_num > | Extra layer for handling of specific sizes of blocks using partial template specialization |
| CBlockMatrixSizeSpecificBase< t_MatrixType, t_block_rows_num, MatrixBlockSizeType::DYNAMIC > | Extra layer for handling of specific sizes of blocks using partial template specialization |
| CConstBlockMatrixInterface | Provides block interface for arbitrary Matrix without copying it |
| CCrossProductMatrix | Skew-symmetric cross product matrix |
| CDiagonalBlockKroneckerProduct | A shorthand class for a specific sparsity type. |
| CDiagonalBlockMatrix | A shorthand class for a specific sparsity type. |
| CGenericBlockKroneckerProduct | A shorthand class for a specific sparsity type |
| CGenericBlockMatrix | A shorthand class for a specific sparsity type |
| CLeftLowerTriangularBlockKroneckerProduct | A shorthand class for a specific sparsity type. |
| CLeftLowerTriangularBlockMatrix | A shorthand class for a specific sparsity type. |
| CMatrixBlockSizeType | Matrix block size type |
| CMatrixSparsityType | Sparsity type of a matrix |
| CSelectionMatrix | Selection matrix |
| CTypeDecayed | Type modifier (drop reference and 'const') |
| CTypeWithoutConst | Type modifier (drop reference 'const') |
| CTypeWithoutConst< const T > | Type modifier (drop 'const') |
| CTypeWithoutReference | Type modifier (drop reference &) |
| CTypeWithoutReference< T & > | Type modifier (drop reference &) |
| ►Nhumoto | The root namespace of HuMoTo |
| ►Nconfig | Namespace of classes related to configuration handling |
| ►Nmsgpack | MessagePack bridge namespace |
| CConfigurableBase | |
| CReader | Configuration reader class |
| CWriter | Configuration writer class |
| ►Nyaml | YAML bridge namespace |
| CConfigurableBase | |
| CReader | Configuration reader class |
| CWriter | Configuration writer class |
| CCommonConfigurableBase | Configurable base class |
| CConfigurableBase | Default configurable base is strict |
| CRelaxedConfigurableBase | |
| CStrictConfigurableBase | |
| ►Nconstraints | |
| CActiveSetDeterminationBMixin | This mixin provides functionality for determination of active constraints. |
| CActiveSetDeterminationLMixin | This mixin provides functionality for determination of active constraints. |
| CActiveSetDeterminationLUMixin | This mixin provides functionality for determination of active constraints |
| CActiveSetDeterminationUMixin | This mixin provides functionality for determination of active constraints. |
| CBodyAMixin | Mixin representing matrix 'A' in a general constraint |
| CBodyASMixin | Mixin representing matrix 'A*S' in a general constraint |
| CBodyGIMixin | Mixin representing matrix of indices 'I' and matrix of gains 'G' in a simple constraint |
| CBodyIMixin | Mixin representing matrix of indices 'I' in a simple constraint |
| CBoundsB0Mixin | Mixin representing vector 'b = 0' in an equality constraint |
| CBoundsBMixin | Mixin representing vector 'b' in an equality constraint |
| CBoundsLMixin | Mixin representing lower bound in an inequality constraint |
| CBoundsLUMixin | Mixin representing upper bound in an inequality constraint |
| CBoundsUMixin | Mixin representing upper bound in an inequality constraint |
| CConstraintsAB | Constraints 'A*x = b' |
| CConstraintsAB0 | Constraints 'A*x = 0' |
| CConstraintsAL | Constraints 'lb <= A*x' |
| CConstraintsALU | Constraints 'lb <= A*x <= ub' |
| CConstraintsASB | Constraints 'A*S*x = b' |
| CConstraintsASB0 | Constraints 'A*S*x = 0' |
| CConstraintsASL | Constraints 'lb <= A*S*x' |
| CConstraintsASLU | Constraints 'lb <= A*S*x <= ub' |
| CConstraintsASU | Constraints 'A*S*x <= ub' |
| CConstraintsAU | Constraints 'A*x <= ub' |
| CConstraintsBase | Constraints abstract interface class |
| CConstraintsGIB | Constraints 'G*x[I] = b' |
| CConstraintsGIB0 | Constraints 'G*x[I] = 0' |
| CConstraintsGIL | Constraints 'lb <= G * x[I]' |
| CConstraintsGILU | Constraints 'lb <= G * x[I] <= ub' |
| CConstraintsGIU | Constraints 'G * x[I] <= ub' |
| CConstraintsIB | Constraints 'x[I] = b' |
| CConstraintsIB0 | Constraints 'x[I] = 0' |
| CConstraintsIL | Constraints 'lb <= x[I]' |
| CConstraintsILU | Constraints 'lb <= x[I] <= ub' |
| CConstraintsIU | Constraints 'x[I] <= ub' |
| CConstraintType | Constraint type |
| CContainerAB | Container for general equality constraints |
| CContainerAL | Container for general onesided inequality constraints |
| CContainerALU | Container for general inequality constraints |
| CContainerBase | Constraints abstract interface class |
| CContainerILU | Container for simple inequality constraints |
| CCopyAnyToALUMixin | This mixin provides functionality for conversion of specific type of constraints to a certain container |
| CCopyEqualityToABMixin | This mixin provides functionality for conversion of specific type of constraints to a certain container. |
| CCopyLowerInequalityToALMixin | This mixin provides functionality for conversion of specific type of constraints to a certain container. |
| CCopySimpleToILUMixin | This mixin provides functionality for conversion of specific type of constraints to a certain container. |
| CCopyTwoSidedInequalityToALMixin | This mixin provides functionality for conversion of specific type of constraints to a certain container. |
| CCopyUpperInequalityToALMixin | This mixin provides functionality for conversion of specific type of constraints to a certain container. |
| CViolationsComputationB0Mixin | This mixin provides functionality for compuation of violations of the bounds. |
| CViolationsComputationBMixin | This mixin provides functionality for compuation of violations of the bounds. |
| CViolationsComputationLMixin | This mixin provides functionality for compuation of violations of the bounds. |
| CViolationsComputationLUMixin | This mixin provides functionality for compuation of violations of the bounds |
| CViolationsComputationUMixin | This mixin provides functionality for compuation of violations of the bounds. |
| ►Nkktsolver | |
| CSolver | QP solver |
| CSolverParameters | Parameters of the solver |
| ►Npepper_ik | |
| CConfigurableOptimizationProblem | Class representing the hierarchy of the problem |
| CGeneralizedCoordinates | State of the model |
| ►CModel | Model |
| CConstraints | |
| CSavedState | |
| CModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_PLANAR > | Specific model description (planar root joint) |
| CModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA > | Specific model description (relocated root) |
| CModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TORSO > | Specific model description (default model) |
| CModelDescriptionBase< ModelFeatures::FIXED_WHEELS > | Base description class of models with fixed wheels |
| CModelFeatures | Model features are used to define different versions of the model |
| CMotionParameters | Desired motion parameters |
| CRobotCommand | Stores robot command |
| CTaskBaseCoMTracking | Base CoM tracking |
| CTaskBaseCoMTracking< FIXED_WHEELS|ROOT_PLANAR > | Base CoM tracking |
| CTaskBaseCoMTrackingBase | Base CoM tracking |
| CTaskBaseOrientation | Base orientation |
| CTaskBaseOrientation< FIXED_WHEELS|ROOT_PLANAR > | Base orientation |
| CTaskBaseOrientationBase | Base orientation |
| CTaskBodyCoMTracking | Body CoM tracking |
| CTaskFixArms | Prevents motion of arms |
| CTaskFixHead | Prevents motion of the head |
| CTaskJointsBounds | Bound joint angles |
| CTaskJointsReference | Maintain reference joint angles |
| CTaskTagAngularVelocity | Tag angular velocity |
| CTaskTagCompleteVelocity | Tag complete velocity (translational and rotational) |
| CTaskTagOrientation | Tag orientation |
| CTaskTagPose | Tag pose |
| CTaskTagPose3Dof | Tag pose with 3dofs (around x axis, around y axis, along z axis) This task is used when moving the base using visual servoing |
| CWBCParameters | Parameters of the WBC problem |
| CWholeBodyController | Whole body controller |
| ►Npepper_mpc | |
| CConfigurableOptimizationProblem | Class representing the hierarchy of the problem |
| CModel | |
| CModelState | |
| CMotionMode | |
| CMotionParameters | Parameters of the motion |
| CMPCforMG | Model Predictive Control problem for walking pattern generation [determine_solution_structure.m, form_rotation_matrices.m, form_foot_pos_matrices.m, form_condensing_matrices.m] |
| CMPCParameters | Parameters of the MPC problem |
| CPreviewHorizon | Preview horizon of an MPC [form_preview_horizon.m] |
| CPreviewHorizonInterval | A helper class defining one interval of a preview horizon |
| CRobotParameters | Parameters of the motion |
| CTaskBaseAccelerationBounds | Base acceleration bounding task |
| CTaskBaseJerkMinimization | Base jerk minimization task |
| CTaskBasePositionReference | Task for minimizing base position against base reference position |
| CTaskBaseVelocityBounds | Task for bounding base velocity to a square |
| CTaskBaseVelocityReference | Task for minimizing base velocity against base reference velocity |
| CTaskBodyJerkMinimization | [task_cop.m] |
| CTaskBodyPositionBounds | Task for bounding body position to a square |
| CTaskBodyPositionReference | |
| CTaskCoPCentering | Base and body jerk minimization task |
| CTaskCoPPositionBounds | CoP position bounding task |
| CTwoPointMassModel | Two Point Mass Model |
| ►Nqpmad | |
| CSolution | Solution of a QP |
| CSolver | QP solver |
| ►CSolverParameters | Parameters of the solver |
| CQPmadParameters | |
| ►Nqpoases | |
| CSolution | Solution of a QP |
| CSolver | QP solver |
| ►CSolverParameters | Parameters of the solver |
| CQPoasesParameters | |
| ►Nquadprogpp | |
| CSolution | Solution of a QP |
| CSolver | QP solver |
| CSolverParameters | Parameters of the solver |
| ►Nrbdl | Interface for RBDL + additional functionality |
| ►CModel | Wraps RBDL model and provides additional functionality |
| CJointData | Stores precomputed data for each joint |
| CModelParameters | Parameters of the model |
| CSpatialTransformWithoutRotation | Efficient spatial transform with identity rotation matrix |
| CSpatialType | This class collects enums and methods to facilitate partial handling of spatial data, e.g., for discrimination of rotational, translational, and complete Jacobians |
| CTagBase | Tag base class |
| CTagCoM | CoM tag |
| CTagLink | Link tag |
| CTagPartialCoM | Partial CoM tag (subset of links) |
| CTagPoint | Link point tag |
| ►Nrigidbody | Namespace containing definitions related to rigid bodies and their motions |
| CCubicPolynomial1D | Class interpolating simple 1D cubic polynomial between two 1D points. Use this class to build more complex trajectories |
| CEulerAngles | Types of Euler angles |
| CPointMassState | Class that groups together parmeters related to a robot foot |
| CRigidBodyPose | |
| CRigidBodyState | Class that groups together parameters related to a robot foot |
| CRotaryState | Class that groups together parameters related to a robot foot |
| CTrajectoryEvaluationType | Type of interpolated trajectory |
| CTripleIntegrator | Triple integrator class Class supports arbitrary number of integrators in the system |
| ►Nwalking | Namespace containing definitions, which are specific to walking |
| CFootBoundsType | |
| CPointMassModel6z | Point Mass Model with piece-wise constant CoP velocity |
| ►CRobotFootParameters | Parameters |
| CLeftRightParameters | These parameters are defined for left and right foot/side |
| CSimple3DFootTrajectory | Class implementing simple example foot trajectory between two 3D points |
| CStance | Stance |
| CStanceFiniteStateMachine | Finite state machine for walking. [initialize_contact_walk_fsm.m] |
| CStanceFSMParameters | Class containing parameters of the stance finite state machine |
| CStanceSubType | Possible stance subtypes of the model |
| CStanceType | Possible stance types of the model |
| ►Nwpg04 | |
| CConfigurableOptimizationProblem | Class representing the hierarchy of the problem |
| CModel | [initialize_model.m] |
| CModelState | |
| CMPCforWPG | Model Predictive Control problem for walking pattern generation [determine_solution_structure.m, form_rotation_matrices.m, form_foot_pos_matrices.m, form_condensing_matrices.m] |
| CMPCParameters | Parameters of an MPC problem. [set_parameters_mpc.m] |
| CPreviewHorizon | Preview horizon of an MPC [form_preview_horizon.m] |
| CPreviewHorizonInterval | A helper class defining one interval of a preview horizon |
| CTaskCoMVelocity | [task_cvel.m] |
| CTaskCoPBounds | [task_copbounds.m] |
| CTaskCoPPosition | [task_cop.m] |
| CTaskCoPVelocity | [task_dz.m] |
| CTaskFootstepBounds | [task_footstepbounds.m] |
| CTaskTerminalConstraint | Terminal constraint task |
| CWalkParameters | Class containing options of the walking pattern generator |
| CWalkState | A class representing a "state" of the walk |
| CActiveSet | Active set corresponding to a hierarchy of Constraints |
| CActiveSetConstraints | Active set corresponding to Constraints class |
| CAngleIndex | Indices of RPY angles |
| CAxisIndex | Index of an axis |
| CConfigurableOptimizationProblem | Class representing the hierarchy of the problem |
| CConstraintActivationType | Type of constraint activation |
| CControlProblem | Abstract base class (for control problems) |
| CControlProblemStatus | Status of control problem |
| CGeneralTaskBaseMixin | General task mixin – should be used in building general tasks |
| ►CHierarchyLevel | This class represents one level of a hierarchy |
| CTaskInfo | Information about a task in a hierarchy |
| CLeftOrRight | This enum is used to handle symmetric objects (left / right foot etc) |
| CLeftRightContainer | Container for two symmetric objects |
| CLocation | Location of a data chunk (offset + length) |
| CLogEntryName | Represents log entry name |
| CLogger | Threaded logger: any data sent to this logger is wrapped in a message and pushed to a queue, the queue is processed in a separate thread. Hence, time consuming output does not delay execution of the main thread(s) |
| CLoggerBase | Logger base class (stream handling) |
| CLogMessage | Standard (with a name) log message |
| CLogMessageBase | Virtual base class for representation of an enqueued log message |
| CLogMessageRaw | Raw log message (without a name) |
| CModel | Instances of this class are passed to a virtual method 'humoto::TaskBase::form()', so even though this class is basically useless in its present form we cannot avoid its definition using a template |
| CModelState | Abstract class to be used for interfaces |
| CMPC | Abstract base class for Model Predictive Control problems |
| COctaveFormatter | A collection of functions which format data to be parsable by MATLAB/Octave |
| COptimizationProblem | An optimization problem [initialize_stack.m, simulation_loop.m] |
| CQPConstraints_AB | QP constraints container |
| CQPConstraints_AB_AL | QP constraints container |
| CQPConstraints_ILU_ALU | QP constraints container |
| CQPObjective | A container for a QP Objective |
| CQPProblem_AB | A QP problem with constraints of a specific type |
| CQPProblem_AB_AL | A QP problem with constraints of a specific type |
| CQPProblem_ILU_ALU | A QP problem with constraints of a specific type |
| CQPProblemBase | QP problem base class |
| CQPSolverMixin | Mixin solver interface (QP solver) |
| CSimpleTaskBaseMixin | Simple task mixin – should be used in building general tasks |
| CSolution | Container of the solution |
| CSolutionStructure | Analog of 'sol_structure' struct in Octave code. [determine_solution_structure.m] |
| CSolver | Base solver class |
| CSolverGuessActiveSet | Solver class with active set guessing |
| CSolverGuessActiveSetMixin | Mixin solver interface (active set guessing) |
| CSolverGuessSolution | Solver class with solution guessing |
| CSolverGuessSolutionActiveSet | Solver class with active set and solution guessing |
| CSolverGuessSolutionActiveSetMixin | Mixin solver interface (active set and solution guessing) |
| CSolverGuessSolutionMixin | Mixin solver interface (solution guessing) |
| CSolverParametersBase | Parameters of a solver |
| CSolverStatus | Return status of a solver |
| CTaskAB | Task: A*x = b |
| CTaskAB0 | Task: A*x = 0 |
| CTaskAL | Task: lb <= A*x |
| CTaskALU | Task: lb <= A*x <= ub |
| CTaskASB | Task: A*S*x = b |
| CTaskASB0 | Task: A*S*x = 0 |
| CTaskASL | Task: lb <= A*S*x |
| CTaskASLU | Task: lb <= A*S*x <= ub |
| CTaskASU | Task: A*S*x <= ub |
| CTaskAU | Task: A*x <= ub |
| CTaskBase | Abstract base class (a task in a stack of tasks / hierarchy) |
| CTaskGIB | Task: diag(G)*x[I] = b |
| CTaskGIB0 | Task: diag(G)*x[I] = 0 |
| CTaskGIL | Task: lb <= diag(G)*x[I] |
| CTaskGILU | Task: lb <= diag(G)*x[I] <= ub |
| CTaskGIU | Task: diag(G)*x[I] <= ub |
| CTaskIB | Task: x[I] = b |
| CTaskIB0 | Task: x[I] = 0 |
| CTaskIL | Task: lb <= x[I] |
| CTaskILU | Task: lb <= x[I] <= ub |
| CTaskInfeasibleInequality | Infeasible inequality task for testing purposes |
| CTaskIU | Task: x[I] <= ub |
| CTaskZeroSelectedVariables | Same as humoto::TaskZeroVariables, but the variables need not to be continuous |
| CTaskZeroVariables | [task_zerovars.m] Set given variables to zero, i.e. minimize these variables |
| CTimer | Timer |
| CViolations | Violations corresponding to a hierarchy of Constraints |
| CViolationsConstraints | Violations corresponding to Constraints class |
| CWeightedSimpleTaskBaseMixin | Simple task mixin – should be used in building general tasks |
