Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

Ncrocoddyl
CActionDataAbstractTpl
CActionDataCodeGenTpl
CActionDataImpulseFwdDynamicsTpl
CActionDataLQRTpl
CActionDataNumDiffTpl
CActionDataUnicycleTpl
CActionModelAbstractTpl	Abstract class for action model
CActionModelBase
CActionModelCodeGenTpl
CActionModelImpulseFwdDynamicsTpl	Action model for impulse forward dynamics in multibody systems
CActionModelLQRTpl	Linear-quadratic regulator (LQR) action model
CActionModelNumDiffTpl	This class computes the numerical differentiation of an action model
CActionModelUnicycleTpl
CActivationBoundsTpl
CActivationData2NormBarrierTpl
CActivationDataAbstractTpl
CActivationDataNumDiffTpl
CActivationDataQuadFlatExpTpl
CActivationDataQuadFlatLogTpl
CActivationDataQuadraticBarrierTpl
CActivationDataSmooth1NormTpl
CActivationDataSmooth2NormTpl
CActivationDataSmoothAbsTpl
CActivationDataWeightedQuadTpl
CActivationDataWeightedSmooth1NormTpl
CActivationModel2NormBarrierTpl	2-norm barrier activation
CActivationModelAbstractTpl
CActivationModelBase
CActivationModelNumDiffTpl
CActivationModelQuadFlatExpTpl
CActivationModelQuadFlatLogTpl	Quadratic-flat-log activation
CActivationModelQuadraticBarrierTpl
CActivationModelQuadTpl
CActivationModelSmooth1NormTpl	Smooth-abs activation
CActivationModelSmooth2NormTpl	Smooth-2Norm activation
CActivationModelSmoothAbsTpl
CActivationModelWeightedQuadraticBarrierTpl
CActivationModelWeightedQuadTpl
CActivationModelWeightedSmooth1NormTpl	Weighted smooth-1norm activation
CActuationDataAbstractTpl
CActuationDataNumDiffTpl
CActuationModelAbstractTpl	Abstract class for the actuation-mapping model
CActuationModelBase
CActuationModelFloatingBaseThrustersTpl	Actuation models for floating base systems actuated with thrusters
CActuationModelFloatingBaseTpl	Floating-base actuation model
CActuationModelFullTpl	Full actuation model
CActuationModelNumDiffTpl	This class computes the numerical differentiation of an actuation model
CActuationSquashingDataTpl
CActuationSquashingModelTpl
CBoxQPSolutionTpl	Box QP solution
CBoxQPTpl	This class implements a Box QP solver based on a Projected Newton method
CCallbackAbstractTpl	Abstract class for solver callbacks
CCallbackBase
CCallbackVerboseTpl
CConstraintDataAbstractTpl
CConstraintDataManagerTpl
CConstraintDataNumDiffTpl
CConstraintDataResidualTpl
CConstraintItemTpl
CConstraintModelAbstractTpl	Abstract class for constraint models
CConstraintModelBase
CConstraintModelManagerTpl	Manage the individual constraint models
CConstraintModelNumDiffTpl	This class computes the numerical differentiation of a constraint model
CConstraintModelResidualTpl	Residual-based constraint
CContactData1DTpl
CContactData2DTpl
CContactData3DTpl
CContactData6DTpl
CContactDataAbstractTpl
CContactDataMultipleTpl	Define the multi-contact data
CContactDataNumDiffTpl
CContactItemTpl
CContactModel1DTpl
CContactModel2DTpl
CContactModel3DTpl
CContactModel6DTpl
CContactModelAbstractTpl
CContactModelBase
CContactModelMultipleTpl	Define a stack of contact models
CContactModelNumDiffTpl
CControlParametrizationDataAbstractTpl
CControlParametrizationDataNumDiffTpl
CControlParametrizationDataPolyOneTpl
CControlParametrizationDataPolyTwoRKTpl
CControlParametrizationModelAbstractTpl	Abstract class for the control trajectory parametrization
CControlParametrizationModelBase
CControlParametrizationModelNumDiffTpl
CControlParametrizationModelPolyOneTpl	A polynomial function of time of degree one, that is a linear function
CControlParametrizationModelPolyTwoRKTpl	A polynomial function of time of degree two, that is a quadratic function
CControlParametrizationModelPolyZeroTpl	A polynomial function of time of degree zero, that is a constant
CCoPSupportTpl	This class encapsulates a center of pressure support of a 6d contact
CCostDataAbstractTpl
CCostDataNumDiffTpl
CCostDataResidualTpl
CCostDataSumTpl
CCostItemTpl
CCostModelAbstractTpl	Abstract class for cost models
CCostModelBase
CCostModelNumDiffTpl	This class computes the numerical differentiation of a cost model
CCostModelResidualTpl	Residual-based cost
CCostModelSumTpl	Summation of individual cost models
CDataCollectorAbstractTpl
CDataCollectorActMultibodyInContactTpl
CDataCollectorActMultibodyTpl
CDataCollectorActuationTpl
CDataCollectorContactTpl
CDataCollectorImpulseTpl
CDataCollectorJointActMultibodyInContactTpl
CDataCollectorJointActMultibodyTpl
CDataCollectorJointActuationTpl
CDataCollectorJointTpl
CDataCollectorMultibodyInContactTpl
CDataCollectorMultibodyInImpulseTpl
CDataCollectorMultibodyTpl
CDefaultVector
CDifferentialActionDataAbstractTpl
CDifferentialActionDataContactFwdDynamicsTpl
CDifferentialActionDataContactInvDynamicsTpl
CResidualDataActuation
CResidualDataContact
CDifferentialActionDataFreeFwdDynamicsTpl
CDifferentialActionDataFreeInvDynamicsTpl
CResidualDataActuation
CDifferentialActionDataLQRTpl
CDifferentialActionDataNumDiffTpl
CDifferentialActionModelAbstractTpl	Abstract class for differential action model
CDifferentialActionModelBase
CDifferentialActionModelContactFwdDynamicsTpl	Differential action model for contact forward dynamics in multibody systems
CDifferentialActionModelContactInvDynamicsTpl	Differential action model for contact inverse dynamics in multibody systems
CResidualModelActuation	Actuation residual
CResidualModelContact	Contact-acceleration residual
CDifferentialActionModelFreeFwdDynamicsTpl	Differential action model for free forward dynamics in multibody systems
CDifferentialActionModelFreeInvDynamicsTpl	Differential action model for free inverse dynamics in multibody systems
CResidualModelActuation	Actuation residual
CDifferentialActionModelLQRTpl	Linear-quadratic regulator (LQR) differential action model
CDifferentialActionModelNumDiffTpl	This class computes the numerical differentiation of a differential action model
CException
CForceDataAbstractTpl
CFrictionConeTpl	This class encapsulates a friction cone
CGuidanceDataAbstractTpl	Preallocated values and derivatives produced by a guidance model
CGuidanceDataComponentwiseSaturationTpl	Cached values for the componentwise saturation guidance model
CGuidanceDataSmoothSaturationTpl	Cached values for the smooth saturation guidance model
CGuidanceModelAbstractTpl	Differentiable mapping from a task error to a desired task rate
CGuidanceModelBase
CGuidanceModelComponentwiseSaturationTpl	Independently bounded guidance model for heterogeneous task channels
CGuidanceModelLinearTpl	Linear converging guidance model
CGuidanceModelSmoothSaturationTpl	Direction-preserving, smoothly bounded guidance model
CImpulseData3DTpl
CImpulseData6DTpl
CImpulseDataAbstractTpl
CImpulseDataMultipleTpl	Define the multi-impulse data
CImpulseItemTpl
CImpulseModel3DTpl
CImpulseModel6DTpl
CImpulseModelAbstractTpl
CImpulseModelBase
CImpulseModelMultipleTpl	Define a stack of impulse models
CIntegratedActionDataAbstractTpl
CIntegratedActionDataEulerTpl
CIntegratedActionDataRKTpl
CIntegratedActionModelAbstractTpl	Abstract class for an integrated action model
CIntegratedActionModelEulerTpl	Symplectic Euler integrator
CIntegratedActionModelRKTpl	Standard RK integrator
CIpoptInterfaceDataTpl
CIpoptInterfaceTpl	Class for interfacing a crocoddyl::ShootingProblem with IPOPT
CJointDataAbstractTpl
CMathBaseTpl
CpseudoInverseAlgo
CpseudoInverseAlgo< MatrixLike, false >
CResidualDataAbstractTpl
CResidualDataCentroidalMomentumTpl
CResidualDataCoMPositionTpl
CResidualDataContactControlGravTpl
CResidualDataContactCoPPositionTpl
CResidualDataContactForceTpl
CResidualDataContactFrictionConeTpl
CResidualDataContactWrenchConeTpl
CResidualDataControlGravTpl
CResidualDataControlTpl
CResidualDataFramePlacementTpl
CResidualDataFrameRotationTpl
CResidualDataFrameTranslationTpl
CResidualDataFrameVelocityTpl
CResidualDataImpulseCoMTpl
CResidualDataJointAccelerationTpl
CResidualDataJointEffortTpl
CResidualDataNumDiffTpl
CResidualDataStateTpl
CResidualDataTaskFirstOrderTpl	Data for the first-order task residual
CResidualDataTaskSecondOrderTpl	Data for the second-order task residual
CResidualModelAbstractTpl	Abstract class for residual models
CResidualModelBase
CResidualModelCentroidalMomentumTpl	Centroidal momentum residual
CResidualModelCoMPositionTpl	CoM position residual
CResidualModelContactControlGravTpl	Control gravity residual under contact
CResidualModelContactCoPPositionTpl	Center of pressure residual function
CResidualModelContactForceTpl	Define a contact force residual function
CResidualModelContactFrictionConeTpl	Contact friction cone residual
CResidualModelContactWrenchConeTpl	Contact wrench cone residual function
CResidualModelControlGravTpl	Control gravity residual
CResidualModelControlTpl	Define a control residual
CResidualModelFramePlacementTpl	Frame placement residual
CResidualModelFrameRotationTpl	Frame rotation residual
CResidualModelFrameTranslationTpl	Frame translation residual
CResidualModelFrameVelocityTpl	Frame velocity residual
CResidualModelImpulseCoMTpl	Impulse CoM residual
CResidualModelJointAccelerationTpl	Define a joint-acceleration residual
CResidualModelJointEffortTpl	Define a joint-effort residual
CResidualModelNumDiffTpl	This class computes the numerical differentiation of a residual model
CResidualModelStateTpl	State residual
CResidualModelTaskFirstOrderTpl	First-order task residual for a generic task and guidance model
CResidualModelTaskSecondOrderTpl	Second-order task residual for a generic task and guidance model
CScalarBaseType
CScalarSelector
CShootingProblemTpl	This class encapsulates a shooting problem
CSimpleQuadrupedGaitProblem
CSolverAbstractTpl	Abstract class for optimal control solvers
CSolverBase
CSolverBoxDDP
CSolverBoxFDDPTpl
CSolverDDP	Differential Dynamic Programming (DDP) solver
CSolverFDDPTpl	Feasibility-driven Differential Dynamic Programming (FDDP) solver
CSolverIntroTpl
CSolverIpopt	Ipopt solver
CSolverKKTTpl
CSolverOdynSQPTpl	Odyn-based Sequential Quadratic Programming (SQP) solver
CSquashingDataAbstractTpl
CSquashingModelAbstractTpl
CSquashingModelBase
CSquashingModelSmoothSatTpl
CStateAbstractTpl	Abstract class for the state representation
CStateBase
CStateMultibodyTpl	State multibody representation
CStateNumDiffTpl
CStateVectorTpl
CStopwatch	A class representing a stopwatch
CPerformanceData	Struct to hold the performance data
CWatcher
CStopwatchException
CTaskDataAbstractTpl	Preallocated values and derivatives produced by a task model
CTaskDataCentroidalMomentumTpl	Cached values and derivatives for the centroidal-momentum task
CTaskDataCoMPositionTpl	Cached values and derivatives for the center-of-mass position task
CTaskDataFramePlacementTpl	Cached values and derivatives for the frame-placement task
CTaskDataFrameRotationTpl	Cached values and derivatives for the frame-rotation task
CTaskDataFrameTranslationTpl	Cached values and derivatives for the frame-translation task
CTaskDataJointPositionTpl	Cached values and derivatives for the joint-position task
CTaskModelAbstractTpl	Abstract task model for convergence residuals
CTaskModelBase
CTaskModelCentroidalMomentumTpl	Centroidal-momentum task model
CTaskModelCoMPositionTpl	CoM position task model
CTaskModelFramePlacementTpl	Frame placement task model
CTaskModelFrameRotationTpl	Frame rotation task model
CTaskModelFrameTranslationTpl	Frame translation task model
CTaskModelJointPositionTpl	Joint-position task model
CThrusterTpl
CTimer
CWrenchConeTpl	This class encapsulates a wrench cone
Npinocchio
CScalarCast< NewScalar, CppAD::cg::CG< Scalar > >
CCsvStream