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

[detail level 123]

Cwbc::ActivationFunction
Cwbc::ActiveContact
▼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::HierarchicalQP	Describes a hierarchy of quadratic programs
Cwbc::JointIntegrator	Implements different numerical integrators
▼Cbase::NamedVector
Cwbc::ActiveContacts
Cwbc::JointWeights
Cwbc::TasksStatus
▼Cwbc::PIDController	Implements an n-dimensional PID controller
Cwbc::CartesianForcePIDController	CartesianForcePIDController implements a PID Controller on a Wrench data type
Cwbc::JointTorquePIDController
Cwbc::PIDCtrlParams
Cwbc::PluginLoader
▼Cwbc::PosPDController	Implements the following two control scemes
Cwbc::CartesianPosPDController	Implements a PD Controller with feed forward on the RigidBodyStateSE3 type. The following control schemes are available:
Cwbc::JointPosPDController	Implements a PD Controller with feed forward on the base-Joints type. The following control schemes are available:
▼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	Base class for potential field controllers
Cwbc::CartesianPotentialFieldsController	The PotentialFieldsController class implements a multi potential field controller in Cartesian space
Cwbc::JointLimitAvoidanceController
Cwbc::HierarchicalLSSolver::PriorityData	The PriorityDataIntern class Manages all priority dependent information, i.e. all matrices that have to be resized according to the number of rows per priority
▼Cwbc::QPSolver
Cwbc::EiquadprogSolver	Wrapper for the qp-solver eiquadprog (see https://github.com/stack-of-tasks/eiquadprog). It solves problems of shape:
Cwbc::HierarchicalLSSolver	Implementation of the hierarchical weighted damped least squares solver (HWLS), similar to Schutter, J. et al. “Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty.” The International Journal of Robotics Research 26 (2007): 433 - 455. It solves the following optimization problem
Cwbc::OsqpSolver
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::QPSolverConfig
▼Cwbc::QPSolverFactory
Cwbc::QPSolverRegistry< wbc::EiquadprogSolver >
Cwbc::QPSolverRegistry< wbc::HierarchicalLSSolver >
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	Interface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC
Cwbc::RobotModelHyrodyn
Cwbc::RobotModelPinocchio
Cwbc::RobotModelRBDL
Cwbc::RobotModelConfig	Robot Model configuration class
▼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::AccelerationScene	Acceleration-based implementation of the WBC Scene. It sets up and solves the following optimization problem:
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::VelocityScene	Velocity-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::SceneConfig
▼Cwbc::SceneFactory
Cwbc::SceneRegistry< wbc::AccelerationScene >
Cwbc::SceneRegistry< wbc::AccelerationSceneReducedTSID >
Cwbc::SceneRegistry< wbc::AccelerationSceneTSID >
Cwbc::SceneRegistry< wbc::VelocityScene >
Cwbc::SceneRegistry< wbc::VelocitySceneQP >
Cwbc::SceneRegistry< T >
▼Cwbc::Task	Abstract class to represent a generic task for a WBC optimization problem
▼Cwbc::CartesianTask	Abstract interface for a task in Cartesian space
Cwbc::CartesianAccelerationTask	Implementation of a Cartesian acceleration task
Cwbc::CartesianVelocityTask	Implementation of a Cartesian velocity task
Cwbc::CoMAccelerationTask	Implementation of a CoM velocity task
Cwbc::CoMVelocityTask	Implementation of a CoM velocity task
▼Cwbc::JointTask	Abstract interface for a task in joint space
Cwbc::JointAccelerationTask	Implementation of a Joint velocity task
Cwbc::JointVelocityTask	Implementation of a Joint velocity task
Cwbc::TaskConfig	Defines a task in the whole body control problem. Valid Configurations are e.g
Cwbc::TaskStatus
Cwbc::URDFTools