Class List

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

[detail level 1234]

►Naligator	Main package namespace
►Nautodiff
►CCostFiniteDifferenceHelper
CData
CDynamicsFiniteDifferenceHelper
CFiniteDifferenceHelper	Approximate the derivatives of a given function using finite differences, to downcast the function to a StageFunctionTpl
►Ncompat	Headers for compatibility modules
►Ncroc	Headers for the Crocoddyl compatibility module
CActionDataWrapperTpl	A complicated child class to StageDataTpl which pipes Crocoddyl's data to the right places
CActionModelWrapperTpl	Wraps a crocoddyl::ActionModelAbstract
CCrocCostDataWrapperTpl
CCrocCostModelWrapperTpl
CDynamicsDataWrapperTpl
CNoOpDynamics
CStateWrapperTpl	Wraps a crocoddyl::StateAbstractTpl to a manifold (proxsuite::nlp::ManifoldAbstractTpl)
►Ndetail
►Clinear_func_composition_impl
CData
Cslice_impl_tpl	Slicing and indexing of a function's output
CStateOrControlErrorResidual	Residual \(r(z) = z \ominus z_{tar} \)
CStateOrControlErrorResidual< _Scalar, 0 >	Pure state residual
►Ndynamics	Namespace for modelling system dynamics
CCentroidalFwdDataTpl
CCentroidalFwdDynamicsTpl	Nonlinear centroidal forward dynamics
CContinuousCentroidalFwdDataTpl
CContinuousCentroidalFwdDynamicsTpl	Nonlinear centroidal forward dynamics with smooth control
CContinuousDynamicsAbstractTpl	Continuous dynamics described by differential-algebraic equations (DAEs) \(F(\dot{x}, x, u) = 0\)
CContinuousDynamicsDataTpl	Data struct for ContinuousDynamicsAbstractTpl
CExplicitIntegratorAbstractTpl	Explicit integrators \(x_{k+1} = f(x_k, u_k) \)
CExplicitIntegratorDataTpl
CIntegratorAbstractTpl	Base class for (implicit) numerical integrators
CIntegratorDataTpl	Data class for numerical integrators (IntegratorAbstractTpl)
CIntegratorEulerTpl	Explicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\)
CIntegratorMidpointDataTpl
CIntegratorMidpointTpl	Midpoint integration rule
CIntegratorRK2DataTpl
CIntegratorRK2Tpl	Second-order Runge-Kutta integrator
CIntegratorSemiImplDataTpl
CIntegratorSemiImplEulerTpl	Semi-implicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\)
CLinearDiscreteDynamicsTpl	Discrete explicit linear dynamics
CLinearODETpl	Linear ordinary differential equation \(\dot{x} = Ax + Bu\)
CMultibodyConstraintFwdDataTpl
CMultibodyConstraintFwdDynamicsTpl	Constraint multibody forward dynamics, using Pinocchio
CODEAbstractTpl	Base class for ODE dynamics \( \dot{x} = f(x, u) \)
►Ngar
CLQRKnotTpl	Struct describing a stage of a constrained LQ problem
CLQRProblemTpl
►CProximalRiccatiKernel	Kernel for use in Riccati-like algorithms for the proximal LQ subproblem
Ckkt0_t
CProximalRiccatiSolver	A Riccati-like solver for the proximal LQ subproblem in ProxDDP
CRiccatiSolverBase
CRiccatiSolverDense	A stagewise-dense Riccati solver. This algorithm uses a dense Bunch-Kaufman factorization at every stage
►CStageFactor	Per-node struct for all computations in the factorization
Cvalue_t
Cworkrange_t
►Npython	The Python bindings
CBlkMatrixPythonVisitor
CCallbackWrapper
CClonePythonVisitor
CContinousDataWrapper
CCopyableVisitor
CCostDataWrapper
CCreateDataPolymorphicPythonVisitor
CCreateDataPythonVisitor
CExplicitDataWrapper
CFrameAPIVisitor
CFunctionDataWrapper	Required trampoline class
CLinFunctionCompositionVisitor
CPolymorphicMultiBaseVisitor
CPrintableVisitor
CPrintAddressVisitor
CPyContinuousDynamics
CPyCostFunction	Wrapper for the CostDataAbstractTpl class and its children
CPyDynamics
CPyExplicitDynamics
CPyODEAbstract
CPyStageFunction
CPyUnaryFunction
CSlicingVisitor
CSolverVisitor
CAngularAccelerationDataTpl
CAngularAccelerationResidualTpl	This residual returns the angular acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses
CAngularMomentumDataTpl
CAngularMomentumResidualTpl	This residual returns the angular momentum for a centroidal model with state \(x = (c, h, L) \)
CBlkMatrix	Block matrix class, with a fixed-size number of row and column blocks
CCallbackBaseTpl	Base callback class
CCenterOfMassTranslationDataTpl
CCenterOfMassTranslationResidualTpl	This residual returns the Center of Mass translation for a centroidal model with state \(x = (c, h, L) \)
CCenterOfMassVelocityDataTpl
CCenterOfMassVelocityResidualTpl
CCentroidalAccelerationDataTpl
CCentroidalAccelerationResidualTpl	This residual returns the linear acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses
CCentroidalCoMDataTpl
CCentroidalCoMResidualTpl
CCentroidalFrictionConeDataTpl	This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \)
CCentroidalFrictionConeResidualTpl
CCentroidalMomentumDataTpl
CCentroidalMomentumDerivativeDataTpl
CCentroidalMomentumDerivativeResidualTpl	This residual returns the derivative of centroidal momentum for a kinodynamics model
CCentroidalMomentumResidualTpl	This residual returns the derivative of centroidal momentum for a kinodynamics model
CCentroidalWrapperDataTpl
CCentroidalWrapperResidualTpl	This residual acts as a wrapper for centroidal model cost functions in which the external forces are added to the state and the control becomes the forces derivatives
CCentroidalWrenchConeDataTpl	This residual implements the wrench cone for a centroidal model with control \(u = (f_1,...,f_c) \) with \(f_k\) 6D spatial force
CCentroidalWrenchConeResidualTpl
CCompositeCostDataTpl	Data struct for composite costs
CConstantCostTpl	Constant cost
CConstraintProximalScalerTpl
CConstraintStackTpl	Convenience class to manage a stack of constraints
CContactMapTpl	Contact map for centroidal costs and dynamics
CControlErrorResidualTpl
CCostAbstractTpl	Stage costs \( \ell(x, u) \) for control problems
CCostDataAbstractTpl	Data struct for CostAbstractTpl
CCostStackDataTpl
CCostStackTpl	Weighted sum of multiple cost components
CDCMPositionDataTpl
CDCMPositionResidualTpl
►CDirectSumCostTpl
CData
►CDirectSumExplicitDynamicsTpl
CData
CDynamicsDataTpl
CDynamicsModelTpl	Dynamics model: describes system dynamics through an implicit relation \(f(x,u,x') = 0\)
CExplicitDynamicsDataTpl	Specific data struct for explicit dynamics ExplicitDynamicsModelTpl
CExplicitDynamicsModelTpl	Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \)
CFilterTpl	A basic filter line-search strategy
CforwardDynamics	Evaluates the forward map for a discrete dynamics model, implicit or explicit
Cframe_api
CFramePlacementDataTpl
CFramePlacementResidualTpl
CFrameTranslationDataTpl
CFrameTranslationResidualTpl
CFrameVelocityDataTpl
CFrameVelocityResidualTpl
CFunctionSliceDataTpl
CFunctionSliceXprTpl	Represents a function of which the output is a subset of another function, for instance \(x \mapsto f_\{0, 1, 3\}(x) \) where \(f\) is given
CFunctionSliceXprTpl< Scalar, StageFunctionTpl< Scalar > >
CFunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >
►CGravityCompensationResidualTpl
CData
CHistoryCallbackTpl	Store the history of results
CLagrangianDerivatives	Compute the derivatives of the problem Lagrangian
CLinearFunctionCompositionTpl
CLinearFunctionTpl	Linear function \(f(x,u,y) = Ax + Bu + Cy + d\)
CLinearMomentumDataTpl
CLinearMomentumResidualTpl	This residual returns the linear momentum for a centroidal model with state \(x = (c, h, L) \)
CLinearUnaryFunctionCompositionTpl
CLogColumn
CLogger	A table logging utility to log the trace of the numerical solvers
CLogResidualCostTpl	Log-barrier of an underlying cost function
►CNewtonRaphson	Newton-Raphson procedure, e.g. to compute forward dynamics from implicit functions
COptions
CNonmonotoneLinesearch	Nonmonotone Linesearch algorithm. Modifies the Armijo condition with a moving average of function values
Coverloads	Utility helper struct for creating visitors from lambdas
CPDALFunction	Primal-dual augmented Lagrangian merit function
CQFunctionTpl	Q-function model parameters
CQuadraticControlCostTpl
CQuadraticCostDataTpl
CQuadraticCostTpl	Euclidean quadratic cost
CQuadraticResidualCostTpl	Quadratic composite of an underlying function
CQuadraticStateCostTpl	Quadratic distance cost over the state manifold
CResultsBaseTpl
CResultsFDDPTpl
CResultsTpl	Results holder struct
CRuntimeError
CSolverFDDPTpl	The feasible DDP (FDDP) algorithm, from Mastalli et al. (2020)
►CSolverProxDDPTpl	A proximal, augmented Lagrangian-type solver for trajectory optimization
CAlmParams
CLinesearchVariant
CStageConstraintTpl	Simple struct holding together a function and set, to describe a constraint
CStageDataTpl	Data struct for stage models StageModelTpl
CStageFunctionDataTpl	Base struct for function data
CStageFunctionTpl	Class representing ternary functions \(f(x,u,x')\)
CStageModelTpl	A stage in the control problem
CStateErrorResidualTpl
CTrajOptDataTpl	Problem data struct
CTrajOptProblemTpl	Trajectory optimization problem
CUnaryFunctionTpl	Represents unary functions of the form \(f(x)\), with no control (or next-state) arguments
CValueFunctionTpl	Storage for the value function model parameters
CWorkspaceBaseTpl	Base workspace struct for the algorithms
CWorkspaceFDDPTpl	Workspace for solver SolverFDDP
CWorkspaceTpl	Workspace for solver SolverProxDDP
►Nboost
►Ndetail
Cspan_bytes
Cspan_bytes< T, boost::dynamic_extent >
Cspan_capacity
Cspan_compatible
Cspan_convertible
Cspan_copyable
Cspan_data
Cspan_data< T, typename std::enable_if< std::is_pointer< span_ptr< T > >::value >::type >
Cspan_has_data
Cspan_has_data< R, T, typename std::enable_if< span_convertible< typename span_data< R >::type, T >::value >::type >
Cspan_has_size
Cspan_has_size< R, typename std::enable_if< std::is_convertible< decltype(std::declval< R & >().size()), std::size_t >::value >::type >
Cspan_implicit
Cspan_is_array
Cspan_is_array< std::array< T, N > >
Cspan_is_range
Cspan_is_span
Cspan_is_span< boost::span< T, E > >
Cspan_store
Cspan_store< T, boost::dynamic_extent >
Cspan_sub
►Npython
►Nobjects
Cvalue_holder< aligator::python::PyContinuousDynamics<> >
Cvalue_holder< aligator::python::PyCostFunction >
Cvalue_holder< aligator::python::PyDynamics< aligator::context::IntegratorAbstract > >
Cvalue_holder< aligator::python::PyDynamics<> >
Cvalue_holder< aligator::python::PyExplicitDynamics< aligator::context::ExplicitIntegratorAbstract > >
Cvalue_holder< aligator::python::PyExplicitDynamics<> >
Cvalue_holder< aligator::python::PyODEAbstract<> >
Cvalue_holder< aligator::python::PyStageFunction<> >
Cvalue_holder< aligator::python::PyUnaryFunction<> >
Cspan
►Nfmt
Cformatter< aligator::ResultsTpl< Scalar > >
Cformatter< aligator::StageModelTpl< Scalar > >
Cformatter< aligator::WorkspaceTpl< Scalar > >