Class List

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

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 (aligator::ManifoldAbstractTpl)
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 \( x_{k+1} = x_k \oplus h f(x_k, u_k)\)
CKinodynamicsFwdDataTpl
CKinodynamicsFwdDynamicsTpl	Nonlinear centroidal and full kinematics forward dynamics
CLinearDiscreteDynamicsTpl	Discrete explicit linear dynamics
CLinearODETpl	Linear ordinary differential equation \(\dot{x} = Ax + Bu\)
CMultibodyConstraintFwdDataTpl
CMultibodyConstraintFwdDynamicsTpl	Constraint multibody forward dynamics, using Pinocchio
CMultibodyFreeFwdDataTpl
CMultibodyFreeFwdDynamicsTpl	Free-space multibody forward dynamics, using Pinocchio
CODEAbstractTpl	Base class for ODE dynamics \( \dot{x} = f(x, u) \)
CWheeledInvertedPendulumDynamicsTpl
Ngar
CDenseKernel	A dense Bunch-Kaufman based kernel
CData
Cvalue
CLqrKnotTpl	Struct describing a stage of a constrained LQ problem
CLqrProblemTpl
CParallelRiccatiSolver	A parallel-condensing LQ solver
CCondensedKkt
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
C[struct].kkt0
CStageFactor	Per-node struct for all computations in the factorization
CCostToGo
Npython	The Python bindings
CBlkMatrixPythonVisitor
CBlkMatrixPythonVisitor< BlkMatrix< MatrixType, N, M > >
CCallbackWrapper
CContinousDataWrapper
CCopyableVisitor
CCostDataWrapper
CCreateDataPolymorphicPythonVisitor
CCreateDataPythonVisitor
CExplicitDataWrapper
CFrameAPIVisitor
CFunctionDataWrapper	Required trampoline class
CLinFunctionCompositionVisitor
COwningNonOwningHolder
Cpolymorphic
CPolymorphicMultiBaseVisitor
CPolymorphicVisitor
CPolymorphicWrapper
CPrintableVisitor
CPrintAddressVisitor
CPyContinuousDynamics
CPyCostFunction	Wrapper for the CostDataAbstractTpl class and its children
CPyDynamics
CPyExplicitDynamics
CPyODEAbstract
CPyStageFunction
CPyUnaryFunction
CSlicingVisitor
CSolverVisitor
CALFunction	Primal-dual augmented Lagrangian merit function
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 \(x = (c, h, L) \)
CArenaMatrix
CArmijoLinesearch	Basic backtracking Armijo line-search strategy
CBlkMatrix	Block matrix class, with a fixed or dynamic-size number of row and column blocks
CBoxConstraintTpl	Box constraint set \(z \in [z_\min, z_\max]\)
CBunchKaufman
CCallbackBaseTpl	Base callback class
CCartesianProductTpl	The cartesian product of two or more manifolds
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
CConstraintSetProductTpl	Cartesian product of multiple constraint sets. This class makes computing multipliers and Jacobian matrix projections more convenient
CConstraintSetTpl	Base constraint set type
CConstraintStackTpl	Convenience class to manage a stack of constraints
CContactForceDataTpl
CContactForceResidualTpl	This residual returns the derivative of centroidal momentum for a kinodynamics model
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 \(f(x,u,x') = 0\)
CEqualityConstraintTpl	Equality constraints \(c(x) = 0\)
CExplicitDynamicsDataTpl	Specific data struct for explicit dynamics ExplicitDynamicsModelTpl
CExplicitDynamicsModelTpl	Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \)
CExtendedStringHash	Extended hashing function for strings which supports const char* and std::string_view
CFilterTpl	A basic filter line-search strategy
CFlyHighResidualTpl	A port of sobec's ResidualModelFlyHighTpl
CData
CForwardDynamicsOptions
Cframe_api
CFrameCollisionDataTpl
CFrameCollisionResidualTpl
CFrameEqualityDataTpl
CFrameEqualityResidualTpl	Residual enforcing equality between two Pinocchio frames
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
Cis_eigen
Cis_tpl_base_of
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
CLinesearch	Base linesearch class. Design pattern inspired by Google Ceres-Solver
CFunctionSample
CLinesearchOptions
CLogColumn
CLogger	A table logging utility to log the trace of the numerical solvers
CLogResidualCostTpl	Log-barrier of an underlying cost function
CManifoldAbstractTpl	Base class for manifolds, to use in cost funcs, solvers..
Cmath_types	Typedefs for math (Eigen vectors, matrices) depending on scalar type
Cmimalloc_resource	A memory_resource wrapping around mimalloc
CMultibodyConfiguration	Multibody configuration group \(\mathcal{Q}\), defined using the Pinocchio library
CMultibodyFrictionConeDataTpl
CMultibodyFrictionConeResidualTpl	This residual returns the derivative of centroidal momentum for a kinodynamics model
CMultibodyPhaseSpace	The tangent bundle of a multibody configuration group
CMultibodyWrenchConeDataTpl
CMultibodyWrenchConeResidualTpl	This residual returns the derivative of centroidal momentum for a kinodynamics model
CNegativeOrthantTpl	Negative orthant, for constraints \(h(x)\leq 0\)
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
CNonsmoothPenaltyL1Tpl	Composite \(\ell_1\)-penalty function \( \|c(x)\|_1 \)
Coverloads	Utility helper struct for creating visitors from lambdas
CPinocchioLieGroup	Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object
Cpolymorphic
Cpolymorphic_allocator	A convenience subclass of std::pmr::polymorphic_allocator for bytes
CPolynomialTpl	Polynomials represented by their coefficients in decreasing order of degree
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
CRelaxedLogBarrierCostTpl	Log-barrier of an underlying cost function
CResultsBaseTpl
CResultsFDDPTpl
CResultsTpl	Results holder struct
CRuntimeError
Cshared_ptr	STL class
CSolverFDDPTpl	The feasible DDP (FDDP) algorithm, from Mastalli et al. (2020)
CSolverProxDDPTpl	A proximal, augmented Lagrangian-type solver for trajectory optimization
CLinesearchVariant
CAlmParams
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	State error \(x \ominus x_\text{ref}\)
CTangentBundleTpl	Tangent bundle of a base manifold M
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
CVectorSpaceTpl	Standard Euclidean vector space
CWorkspaceBaseTpl	Base workspace struct for the algorithms
CWorkspaceFDDPTpl	Workspace for solver SolverFDDP
CWorkspaceTpl	Workspace for solver SolverProxDDP
NEigen
CBunchKaufman