This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 12]

▼Cwbc::Constraint	Abstract class to represent a generic hard (linear) constraint for a WBC optimization problem. the constraint belongs to one of three types: equality Ax = b inequality lb <= Ax <= ub bounds lb <= x <= ub
Cwbc::ContactsAccelerationConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
Cwbc::ContactsFrictionPointConstraint
Cwbc::ContactsFrictionSurfaceConstraint
Cwbc::ContactsVelocityConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
Cwbc::EffortLimitsAccelerationConstraint	Effort limits constraint for reduced TSID scene since torques are not part of qp, torque limits are enforced through acceleration and external forces limits using the linear dependecy given by the dynamic model
Cwbc::JointLimitsAccelerationConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
Cwbc::JointLimitsVelocityConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
Cwbc::RigidbodyDynamicsConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
Cwbc::types::Contact	Describes a rigid contact between a robot link and the environment. This can be either a point or surface contact
Cwbc::HierarchicalQP	Describes a hierarchy of quadratic programs
Cwbc::types::JointCommand
Cwbc::JointIntegrator	Implements different numerical integrators
Cwbc::types::JointLimits
Cwbc::JointPosPDController	Implements a PD Controller with feed forward on the base-Joints type. The following control schemes are available:
Cwbc::types::JointState	Describes either the state or the command for a set of joints, i.e., its actual or target position, velocity, acceleration and effort
Cwbc::types::Limits
Clogger
Cwbc::RobotModel::Matrix
▼Cwbc::PIDController	Implements an n-dimensional PID controller
Cwbc::WrenchPIDController	CartesianForcePIDController implements a PID Controller on a Wrench data type
Cwbc::PIDCtrlParams
Cwbc::PluginLoader	Helper class to load the robot model, solver and scene plugins
Cwbc::RobotModel::Pose
Cwbc::types::Pose
▼Cwbc::PotentialField	Base class for potential fields
Cwbc::PlanarPotentialField	Planar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal)
Cwbc::RadialPotentialField	Radial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field:
Cwbc::PotentialFieldInfo
▼Cwbc::PotentialFieldsController	Eigen class for potential field controllers
Cwbc::CartesianPotentialFieldsController	The PotentialFieldsController class implements a multi potential field controller in Cartesian space
Cwbc::JointLimitAvoidanceController
▼Cwbc::QPSolver	Base class for all QP solvers
Cwbc::EiquadprogSolver	Wrapper for the qp-solver eiquadprog (see https://github.com/stack-of-tasks/eiquadprog). It solves problems of shape:
Cwbc::HPIPMSolver
Cwbc::OsqpSolver	The OsqpSolver solves convex quadratic programs (QPs) of the form
Cwbc::ProxQPSolver	Wrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape:
Cwbc::QPOASESSolver	Wrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape:
Cwbc::QPSwiftSolver
▼Cwbc::QPSolverFactory
Cwbc::QPSolverRegistry< wbc::EiquadprogSolver >
Cwbc::QPSolverRegistry< wbc::HPIPMSolver >
Cwbc::QPSolverRegistry< wbc::OsqpSolver >
Cwbc::QPSolverRegistry< wbc::ProxQPSolver >
Cwbc::QPSolverRegistry< wbc::QPOASESSolver >
Cwbc::QPSolverRegistry< wbc::QPSwiftSolver >
Cwbc::QPSolverRegistry< T >
Cwbc::QuadraticProgram	Describes a quadratic program of the form
Cwbc::RobotModel::RigidBodyState
Cwbc::types::RigidBodyState
▼Cwbc::RobotModel	Interface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC. Conventions and usage:
Cwbc::RobotModelHyrodyn
Cwbc::RobotModelPinocchio
Cwbc::RobotModelRBDL
Cwbc::RobotModelConfig	Robot Model configuration class, containts information like urdf file, type of robot model to be loaded, etc
▼Cwbc::RobotModelFactory
Cwbc::RobotModelRegistry< wbc::RobotModelHyrodyn >
Cwbc::RobotModelRegistry< wbc::RobotModelPinocchio >
Cwbc::RobotModelRegistry< wbc::RobotModelRBDL >
Cwbc::RobotModelRegistry< T >
▼Cwbc::Scene	Base class for all wbc scenes
Cwbc::AccelerationSceneReducedTSID	Acceleration-based implementation of the WBC Scene. It sets up and solves the following problem:
Cwbc::AccelerationSceneTSID	Acceleration-based implementation of the WBC Scene. It sets up and solves the following problem:
Cwbc::VelocitySceneQP	Velocity-based implementation of the WBC Scene. It sets up and solves the following problem:
▼Cwbc::SceneFactory
Cwbc::SceneRegistry< wbc::AccelerationSceneReducedTSID >
Cwbc::SceneRegistry< wbc::AccelerationSceneTSID >
Cwbc::SceneRegistry< wbc::VelocitySceneQP >
Cwbc::SceneRegistry< T >
Cwbc::RobotModel::SpatialAcceleration
Cwbc::types::SpatialAcceleration
▼Cwbc::Task	Abstract class to represent a generic task for a WBC optimization problem
Cwbc::CoMAccelerationTask	Implementation of a CoM velocity task
Cwbc::CoMVelocityTask	Implementation of a CoM velocity task
Cwbc::ContactForceTask
Cwbc::JointAccelerationTask	Implementation of a Joint velocity task
Cwbc::JointVelocityTask	Implementation of a Joint velocity task
Cwbc::SpatialAccelerationTask	Implementation of a Cartesian acceleration task
Cwbc::SpatialVelocityTask	Implementation of a Cartesian velocity task
Cwbc::TaskConfig	Defines a task in the whole body control problem
Cwbc::RobotModel::Twist
Cwbc::types::Twist
Cwbc::URDFTools
Cwbc::RobotModel::Vector
Cwbc::types::Wrench