Namespaces
namespace	types

Classes
class	ContactsAccelerationConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...
class	ContactsFrictionPointConstraint
class	ContactsFrictionSurfaceConstraint
	Polyhedral wrench friction (coulomb) cone constraint according to https://scaron.info/robotics/wrench-friction-cones.html (Wrench friction cone for surface contacts). More...
class	ContactsVelocityConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...
class	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. More...
class	JointLimitsAccelerationConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...
class	JointLimitsVelocityConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...
class	RigidbodyDynamicsConstraint
	Abstract class to represent a generic hard constraint for a WBC optimization problem. More...
class	CartesianPotentialFieldsController
	The PotentialFieldsController class implements a multi potential field controller in Cartesian space. More...
class	JointLimitAvoidanceController
class	JointPosPDController
	The JointPosPDController class implements a PD Controller with feed forward on the base-Joints type. The following control schemes are available: More...
class	PIDController
	The PIDController class implements an n-dimensional PID controller. More...
class	PIDCtrlParams
class	PlanarPotentialField
	Planar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal). More...
class	PotentialField
	Base class for potential fields. More...
struct	PotentialFieldInfo
class	PotentialFieldsController
	Eigen class for potential field controllers. More...
class	RadialPotentialField
	Radial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field: More...
class	WrenchPIDController
	CartesianForcePIDController implements a PID Controller on a Wrench data type. More...
class	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. More...
class	PluginLoader
	Helper class to load the robot model, solver and scene plugins. More...
class	QPSolver
	Base class for all QP solvers. More...
struct	QPSolverFactory
struct	QPSolverRegistry
struct	QuadraticProgram
	Describes a quadratic program of the form. More...
struct	HierarchicalQP
	Describes a hierarchy of quadratic programs. More...
class	RobotModel
	Interface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC. Conventions and usage: More...
struct	RobotModelFactory
struct	RobotModelRegistry
struct	RobotModelConfig
	Robot Model configuration class, containts information like urdf file, type of robot model to be loaded, etc. More...
class	Scene
	Base class for all wbc scenes. More...
struct	SceneFactory
struct	SceneRegistry
class	Task
	Abstract class to represent a generic task for a WBC optimization problem. More...
class	TaskConfig
	Defines a task in the whole body control problem. More...
class	RobotModelHyrodyn
class	RobotModelPinocchio
class	RobotModelRBDL
class	AccelerationSceneReducedTSID
	Acceleration-based implementation of the WBC Scene. It sets up and solves the following problem: More...
class	AccelerationSceneTSID
	Acceleration-based implementation of the WBC Scene. It sets up and solves the following problem: More...
class	VelocitySceneQP
	Velocity-based implementation of the WBC Scene. It sets up and solves the following problem: More...
class	EiquadprogSolver
	The EiquadprogSolver class is a wrapper for the qp-solver eiquadprog (see https://github.com/stack-of-tasks/eiquadprog). It solves problems of shape: More...
class	HPIPMSolver
class	OsqpSolver
	The OsqpSolver solves convex quadratic programs (QPs) of the form. More...
class	ProxQPSolver
	The ProxQPSolver class is a wrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: More...
class	QPOASESSolver
	The QPOASESSolver class is a wrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: More...
class	QPSwiftSolver
class	CoMAccelerationTask
	Implementation of a CoM velocity task. More...
class	CoMVelocityTask
	Implementation of a CoM velocity task. More...
class	ContactForceTask
class	ContactWrenchTask
class	JointAccelerationTask
	Implementation of a Joint velocity task. More...
class	JointVelocityTask
	Implementation of a Joint velocity task. More...
class	SpatialAccelerationTask
	Implementation of a Cartesian acceleration task. More...
class	SpatialVelocityTask
	Implementation of a Cartesian velocity task. More...
class	Filter
class	MovingMedianFilter
class	MovingAverageFilter
class	JointIntegrator
	The JointIntegrator class implements different numerical integrators. More...
class	URDFTools

Typedefs
typedef std::shared_ptr< ContactsAccelerationConstraint >	ContactsAccelerationConstraintPtr
typedef std::shared_ptr< ContactsVelocityConstraint >	ContactsVelocityConstraintPtr
typedef std::shared_ptr< EffortLimitsAccelerationConstraint >	EffortLimitsAccelerationConstraintPtr
typedef std::shared_ptr< JointLimitsAccelerationConstraint >	JointLimitsAccelerationConstraintPtr
typedef std::shared_ptr< JointLimitsVelocityConstraint >	JointLimitsVelocityConstraintPtr
typedef std::shared_ptr< RigidbodyDynamicsConstraint >	RigidbodyDynamicsConstraintPtr
using	JointPosPDControllerPtr = std::shared_ptr<JointPosPDController>
typedef std::shared_ptr< PlanarPotentialField >	PlanarPotentialFieldPtr
typedef std::shared_ptr< PotentialField >	PotentialFieldPtr
typedef std::shared_ptr< Constraint >	ConstraintPtr
typedef std::shared_ptr< QPSolver >	QPSolverPtr
typedef std::shared_ptr< RobotModel >	RobotModelPtr
typedef std::shared_ptr< Scene >	ScenePtr
using	TaskPtr = std::shared_ptr<Task>
typedef std::shared_ptr< CoMAccelerationTask >	CoMAccelerationTaskPtr
typedef std::shared_ptr< CoMVelocityTask >	CoMVelocityTaskPtr
typedef std::shared_ptr< ContactForceTask >	ContactForceTaskPtr
typedef std::shared_ptr< ContactWrenchTask >	ContactWrenchTaskPtr
using	JointAccelerationTaskPtr = std::shared_ptr<JointAccelerationTask>
typedef std::shared_ptr< JointVelocityTask >	JointVelocityTaskPtr
using	SpatialAccelerationTaskPtr = std::shared_ptr<SpatialAccelerationTask>
typedef std::shared_ptr< SpatialVelocityTask >	SpatialVelocityTaskPtr

Enumerations
enum	TaskType { unset = -1 , spatial_velocity , spatial_acceleration , com_velocity , com_acceleration , joint_velocity , joint_acceleration , contact_force , contact_wrench }

Functions
template<typename T>
QPSolver *	createT ()
template<typename T>
RobotModel *	createT ()
template<typename T, typename RobotModelPtr, typename QPSolverPtr>
Scene *	createT (RobotModelPtr robot_model, QPSolverPtr solver, const double dt)
void	printRbs (types::RigidBodyState rbs)
types::JointState	makeRandomJointState (uint n)
types::RigidBodyState	makeRandomFloatingBaseState ()
void	testFK (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
void	testSpaceJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
void	testBodyJacobian (RobotModelPtr robot_model, const string &tip_frame, bool verbose)
void	testCoMJacobian (RobotModelPtr robot_model, bool verbose)
void	testInverseDynamics (RobotModelPtr robot_model, bool verbose)
void	testFK (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)
void	testSpaceJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)
void	testBodyJacobian (RobotModelPtr robot_model, const std::string &tip_frame, bool verbose=false)
void	testDynamics (RobotModelPtr robot_model, bool verbose)