Class Hierarchy

Go to the graphical class hierarchy

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

[detail level 1234]

►C_FunType
Caligator::detail::linear_func_composition_impl< _FunType >
Caligator::SolverProxDDPTpl< _Scalar >::AlmParams
Caligator::BlkMatrix< _MatrixType, _N, _M >	Block matrix class, with a fixed-size number of row and column blocks
Caligator::BlkMatrix< MatrixXs, 2, 1 >
Caligator::BlkMatrix< MatrixXs, 2, 2 >
Caligator::BlkMatrix< RowMatrixXs, 2, 1 >
Caligator::BlkMatrix< RowMatrixXs, 4, 1 >
Caligator::BlkMatrix< VectorXs, 2, 1 >
Caligator::BlkMatrix< VectorXs, 4, 1 >
►CCallbackBase
Caligator::python::CallbackWrapper
►Caligator::CallbackBaseTpl< Scalar >	Base callback class
Caligator::HistoryCallbackTpl< Scalar >	Store the history of results
Caligator::ConstraintProximalScalerTpl< Scalar >
Caligator::ConstraintStackTpl< Scalar >	Convenience class to manage a stack of constraints
Caligator::ContactMapTpl< _Scalar >	Contact map for centroidal costs and dynamics
Caligator::ContactMapTpl< Scalar >
►Caligator::dynamics::ContinuousDynamicsAbstractTpl< Scalar >	Continuous dynamics described by differential-algebraic equations (DAEs) \(F(\dot{x}, x, u) = 0\)
Caligator::python::PyContinuousDynamics< T >
►Caligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
►Caligator::dynamics::ODEAbstractTpl< _Scalar >	Base class for ODE dynamics \( \dot{x} = f(x, u) \)
Caligator::dynamics::CentroidalFwdDynamicsTpl< Scalar >	Nonlinear centroidal forward dynamics
Caligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< Scalar >	Nonlinear centroidal forward dynamics with smooth control
Caligator::dynamics::LinearODETpl< _Scalar >	Linear ordinary differential equation \(\dot{x} = Ax + Bu\)
Caligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >	Constraint multibody forward dynamics, using Pinocchio
Caligator::python::PyODEAbstract< T >
►CContinuousDynamicsData
Caligator::python::ContinousDataWrapper
►Caligator::dynamics::ContinuousDynamicsDataTpl< Scalar >	Data struct for ContinuousDynamicsAbstractTpl
Caligator::dynamics::CentroidalFwdDataTpl< Scalar >
Caligator::dynamics::ContinuousCentroidalFwdDataTpl< Scalar >
Caligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >
►Caligator::CostAbstractTpl< Scalar >	Stage costs \( \ell(x, u) \) for control problems
►Caligator::QuadraticResidualCostTpl< Scalar >
Caligator::QuadraticControlCostTpl< Scalar >
Caligator::QuadraticStateCostTpl< Scalar >	Quadratic distance cost over the state manifold
Caligator::LogResidualCostTpl< Scalar >	Log-barrier of an underlying cost function
Caligator::autodiff::CostFiniteDifferenceHelper< Scalar >
Caligator::python::PyCostFunction	Wrapper for the CostDataAbstractTpl class and its children
►Caligator::CostAbstractTpl< _Scalar >
Caligator::ConstantCostTpl< _Scalar >	Constant cost
Caligator::CostStackTpl< _Scalar >	Weighted sum of multiple cost components
Caligator::DirectSumCostTpl< _Scalar >
Caligator::QuadraticCostTpl< _Scalar >	Euclidean quadratic cost
Caligator::QuadraticResidualCostTpl< _Scalar >	Quadratic composite of an underlying function
Caligator::compat::croc::CrocCostModelWrapperTpl< Scalar >
►CCostData
Caligator::python::CostDataWrapper
►Caligator::CostDataAbstractTpl< Scalar >	Data struct for CostAbstractTpl
Caligator::CompositeCostDataTpl< Scalar >	Data struct for composite costs
Caligator::DirectSumCostTpl< _Scalar >::Data
Caligator::QuadraticCostDataTpl< Scalar >
Caligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data
Caligator::compat::croc::CrocCostDataWrapperTpl< Scalar >
►Caligator::CostDataAbstractTpl< _Scalar >
Caligator::CostStackDataTpl< _Scalar >
►Cboost::python::def_visitor
Caligator::python::BlkMatrixPythonVisitor< BlockMatrixType >
Caligator::python::ClonePythonVisitor< T >
Caligator::python::CopyableVisitor< T >
Caligator::python::CreateDataPolymorphicPythonVisitor< T, TWrapper >
Caligator::python::CreateDataPythonVisitor< T >
Caligator::python::FrameAPIVisitor< Class >
Caligator::python::LinFunctionCompositionVisitor< LFC >
Caligator::python::PolymorphicMultiBaseVisitor< Bases >
Caligator::python::PrintAddressVisitor< T >
Caligator::python::PrintableVisitor< T >
Caligator::python::SlicingVisitor< Class >
Caligator::python::SolverVisitor< SolverType >
Caligator::DynamicsDataTpl< Scalar >
►Caligator::DynamicsDataTpl< _Scalar >
►Caligator::ExplicitDynamicsDataTpl< _Scalar >
Caligator::dynamics::ExplicitIntegratorDataTpl< _Scalar >
►Caligator::ExplicitDynamicsDataTpl< Scalar >	Specific data struct for explicit dynamics ExplicitDynamicsModelTpl
►Caligator::dynamics::ExplicitIntegratorDataTpl< Scalar >
Caligator::dynamics::IntegratorRK2DataTpl< Scalar >
Caligator::dynamics::IntegratorSemiImplDataTpl< Scalar >
Caligator::DirectSumExplicitDynamicsTpl< _Scalar >::Data
Caligator::compat::croc::DynamicsDataWrapperTpl< Scalar >
►Caligator::dynamics::IntegratorDataTpl< _Scalar >	Data class for numerical integrators (IntegratorAbstractTpl)
Caligator::dynamics::IntegratorMidpointDataTpl< _Scalar >
►Caligator::DynamicsModelTpl< Scalar >	Dynamics model: describes system dynamics through an implicit relation \(f(x,u,x') = 0\)
Caligator::compat::croc::NoOpDynamics< Scalar >
Caligator::python::PyDynamics< Base >
►Caligator::DynamicsModelTpl< _Scalar >
►Caligator::ExplicitDynamicsModelTpl< _Scalar >
Caligator::DirectSumExplicitDynamicsTpl< _Scalar >
►Caligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >	Explicit integrators \(x_{k+1} = f(x_k, u_k) \)
Caligator::dynamics::IntegratorEulerTpl< _Scalar >	Explicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\)
Caligator::dynamics::IntegratorRK2Tpl< _Scalar >	Second-order Runge-Kutta integrator
Caligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >	Semi-implicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\)
Caligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >	Discrete explicit linear dynamics
►Caligator::ExplicitDynamicsModelTpl< Scalar >	Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \)
Caligator::python::PyExplicitDynamics< ExplicitBase >
Caligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >
►Caligator::dynamics::IntegratorAbstractTpl< _Scalar >	Base class for (implicit) numerical integrators
Caligator::dynamics::IntegratorMidpointTpl< _Scalar >	Midpoint integration rule
►Cstd::exception	STL class
►Cstd::runtime_error	STL class
Caligator::RuntimeError
►CExplicitDynamicsData
Caligator::python::ExplicitDataWrapper
Caligator::FilterTpl< Scalar >	A basic filter line-search strategy
Caligator::forwardDynamics< T >	Evaluates the forward map for a discrete dynamics model, implicit or explicit
►Caligator::frame_api
Caligator::CenterOfMassTranslationResidualTpl< _Scalar >	This residual returns the Center of Mass translation for a centroidal model with state \(x = (c, h, L) \)
Caligator::CenterOfMassVelocityResidualTpl< _Scalar >
Caligator::DCMPositionResidualTpl< _Scalar >
Caligator::FramePlacementResidualTpl< _Scalar >
Caligator::FrameTranslationResidualTpl< _Scalar >
Caligator::FrameVelocityResidualTpl< _Scalar >
Caligator::FunctionSliceXprTpl< Scalar, Base >	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
Caligator::gar::ProximalRiccatiKernel< Scalar >::kkt0_t
Caligator::LagrangianDerivatives< Scalar >	Compute the derivatives of the problem Lagrangian
Caligator::SolverProxDDPTpl< _Scalar >::LinesearchVariant
Caligator::LogColumn
Caligator::Logger	A table logging utility to log the trace of the numerical solvers
Caligator::gar::LQRKnotTpl< Scalar >	Struct describing a stage of a constrained LQ problem
Caligator::gar::LQRProblemTpl< Scalar >
Caligator::NewtonRaphson< Scalar >	Newton-Raphson procedure, e.g. to compute forward dynamics from implicit functions
Caligator::NewtonRaphson< Scalar >::Options
►Cfmt::ostream_formatter
Cfmt::formatter< aligator::ResultsTpl< Scalar > >
Cfmt::formatter< aligator::StageModelTpl< Scalar > >
Cfmt::formatter< aligator::WorkspaceTpl< Scalar > >
►Cproxsuite::nlp::python::OwningNonOwningHolder
Cboost::python::objects::value_holder< aligator::python::PyContinuousDynamics<> >
Cboost::python::objects::value_holder< aligator::python::PyCostFunction >
Cboost::python::objects::value_holder< aligator::python::PyDynamics< aligator::context::IntegratorAbstract > >
Cboost::python::objects::value_holder< aligator::python::PyDynamics<> >
Cboost::python::objects::value_holder< aligator::python::PyExplicitDynamics< aligator::context::ExplicitIntegratorAbstract > >
Cboost::python::objects::value_holder< aligator::python::PyExplicitDynamics<> >
Cboost::python::objects::value_holder< aligator::python::PyODEAbstract<> >
Cboost::python::objects::value_holder< aligator::python::PyStageFunction<> >
Cboost::python::objects::value_holder< aligator::python::PyUnaryFunction<> >
Caligator::PDALFunction< _Scalar >	Primal-dual augmented Lagrangian merit function
►Cproxsuite::nlp::python::PolymorphicWrapper
Caligator::python::PyContinuousDynamics< T >
Caligator::python::PyCostFunction	Wrapper for the CostDataAbstractTpl class and its children
Caligator::python::PyDynamics< Base >
Caligator::python::PyExplicitDynamics< ExplicitBase >
Caligator::python::PyODEAbstract< T >
Caligator::python::PyStageFunction< FunctionBase >
Caligator::python::PyUnaryFunction< UFunction >
Caligator::gar::ProximalRiccatiKernel< Scalar >	Kernel for use in Riccati-like algorithms for the proximal LQ subproblem
Caligator::QFunctionTpl< _Scalar >	Q-function model parameters
►Caligator::ResultsBaseTpl< Scalar >
Caligator::ResultsTpl< Scalar >
Caligator::ResultsFDDPTpl< Scalar >
►Caligator::ResultsBaseTpl< _Scalar >
Caligator::ResultsTpl< _Scalar >	Results holder struct
►Caligator::gar::RiccatiSolverBase< _Scalar >
Caligator::gar::ProximalRiccatiSolver< _Scalar >	A Riccati-like solver for the proximal LQ subproblem in ProxDDP
Caligator::gar::RiccatiSolverDense< _Scalar >	A stagewise-dense Riccati solver. This algorithm uses a dense Bunch-Kaufman factorization at every stage
Caligator::gar::RiccatiSolverBase< Scalar >
Caligator::detail::slice_impl_tpl< Base >	Slicing and indexing of a function's output
►Caligator::detail::slice_impl_tpl< StageFunctionTpl< Scalar > >
Caligator::FunctionSliceXprTpl< Scalar, StageFunctionTpl< Scalar > >
►Caligator::detail::slice_impl_tpl< UnaryFunctionTpl< Scalar > >
Caligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >
Caligator::SolverFDDPTpl< Scalar >	The feasible DDP (FDDP) algorithm, from Mastalli et al. (2020)
Caligator::SolverProxDDPTpl< _Scalar >	A proximal, augmented Lagrangian-type solver for trajectory optimization
Cboost::span< T, E >
Cboost::detail::span_bytes< T, E >
Cboost::detail::span_bytes< T, boost::dynamic_extent >
Cboost::detail::span_capacity< E, N >
Cboost::detail::span_compatible< T, E, U, N >
Cboost::detail::span_convertible< U, T >
Cboost::detail::span_copyable< T, E, U, N >
Cboost::detail::span_data< class, class >
Cboost::detail::span_data< T, typename std::enable_if< std::is_pointer< span_ptr< T > >::value >::type >
Cboost::detail::span_has_data< class, class, class >
Cboost::detail::span_has_data< R, T, typename std::enable_if< span_convertible< typename span_data< R >::type, T >::value >::type >
Cboost::detail::span_has_size< class, class >
Cboost::detail::span_has_size< R, typename std::enable_if< std::is_convertible< decltype(std::declval< R & >().size()), std::size_t >::value >::type >
Cboost::detail::span_implicit< E, N >
Cboost::detail::span_is_array< T >
Cboost::detail::span_is_array< std::array< T, N > >
Cboost::detail::span_is_range< R, T >
Cboost::detail::span_is_span< class >
Cboost::detail::span_is_span< boost::span< T, E > >
Cboost::detail::span_store< T, E >
Cboost::detail::span_store< T, boost::dynamic_extent >
Cboost::detail::span_sub< E, O >
Caligator::StageConstraintTpl< Scalar >	Simple struct holding together a function and set, to describe a constraint
►Caligator::StageDataTpl< Scalar >	Data struct for stage models StageModelTpl
Caligator::compat::croc::ActionDataWrapperTpl< Scalar >	A complicated child class to StageDataTpl which pipes Crocoddyl's data to the right places
Caligator::gar::StageFactor< _Scalar >	Per-node struct for all computations in the factorization
Caligator::gar::StageFactor< Scalar >
►CStageFunctionData
Caligator::python::FunctionDataWrapper	Required trampoline class
►Caligator::StageFunctionDataTpl< Scalar >	Base struct for function data
Caligator::AngularAccelerationDataTpl< Scalar >
Caligator::AngularMomentumDataTpl< Scalar >
Caligator::CenterOfMassTranslationDataTpl< Scalar >
Caligator::CenterOfMassVelocityDataTpl< Scalar >
Caligator::CentroidalAccelerationDataTpl< Scalar >
Caligator::CentroidalCoMDataTpl< Scalar >
Caligator::CentroidalFrictionConeDataTpl< Scalar >	This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \)
Caligator::CentroidalMomentumDataTpl< Scalar >
Caligator::CentroidalMomentumDerivativeDataTpl< Scalar >
Caligator::CentroidalWrapperDataTpl< Scalar >
Caligator::CentroidalWrenchConeDataTpl< Scalar >	This residual implements the wrench cone for a centroidal model with control \(u = (f_1,...,f_c) \) with \(f_k\) 6D spatial force
Caligator::DCMPositionDataTpl< Scalar >
Caligator::FramePlacementDataTpl< Scalar >
Caligator::FrameTranslationDataTpl< Scalar >
Caligator::FrameVelocityDataTpl< Scalar >
Caligator::FunctionSliceDataTpl< Scalar >
Caligator::GravityCompensationResidualTpl< _Scalar >::Data
Caligator::LinearMomentumDataTpl< Scalar >
Caligator::detail::linear_func_composition_impl< _FunType >::Data
►Caligator::StageFunctionTpl< Scalar >	Class representing ternary functions \(f(x,u,x')\)
►Caligator::detail::StateOrControlErrorResidual< Scalar, 1 >
Caligator::ControlErrorResidualTpl< Scalar >
►Caligator::detail::StateOrControlErrorResidual< Scalar, 0 >
Caligator::StateErrorResidualTpl< Scalar >
Caligator::FunctionSliceXprTpl< Scalar, StageFunctionTpl< Scalar > >
Caligator::LinearFunctionTpl< Scalar >	Linear function \(f(x,u,y) = Ax + Bu + Cy + d\)
Caligator::python::PyStageFunction< FunctionBase >
►Caligator::StageFunctionTpl< _Scalar >
►Caligator::UnaryFunctionTpl< _Scalar >
►Caligator::detail::linear_func_composition_impl< UnaryFunctionTpl< _Scalar > >
Caligator::LinearUnaryFunctionCompositionTpl< _Scalar >
Caligator::AngularMomentumResidualTpl< _Scalar >	This residual returns the angular momentum for a centroidal model with state \(x = (c, h, L) \)
Caligator::CenterOfMassTranslationResidualTpl< _Scalar >	This residual returns the Center of Mass translation for a centroidal model with state \(x = (c, h, L) \)
Caligator::CenterOfMassVelocityResidualTpl< _Scalar >
Caligator::CentroidalCoMResidualTpl< _Scalar >
Caligator::CentroidalMomentumResidualTpl< _Scalar >	This residual returns the derivative of centroidal momentum for a kinodynamics model
Caligator::CentroidalWrapperResidualTpl< _Scalar >	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
Caligator::DCMPositionResidualTpl< _Scalar >
Caligator::FramePlacementResidualTpl< _Scalar >
Caligator::FrameTranslationResidualTpl< _Scalar >
Caligator::FrameVelocityResidualTpl< _Scalar >
Caligator::LinearMomentumResidualTpl< _Scalar >	This residual returns the linear momentum for a centroidal model with state \(x = (c, h, L) \)
Caligator::detail::StateOrControlErrorResidual< _Scalar, 0 >	Pure state residual
►Caligator::detail::linear_func_composition_impl< StageFunctionTpl< _Scalar > >
Caligator::LinearFunctionCompositionTpl< _Scalar >
Caligator::AngularAccelerationResidualTpl< _Scalar >	This residual returns the angular acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses
Caligator::CentroidalAccelerationResidualTpl< _Scalar >	This residual returns the linear acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses
Caligator::CentroidalFrictionConeResidualTpl< _Scalar >
Caligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >	This residual returns the derivative of centroidal momentum for a kinodynamics model
Caligator::CentroidalWrenchConeResidualTpl< _Scalar >
Caligator::GravityCompensationResidualTpl< _Scalar >
►Caligator::UnaryFunctionTpl< Scalar >	Represents unary functions of the form \(f(x)\), with no control (or next-state) arguments
Caligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >
Caligator::python::PyUnaryFunction< UFunction >
Caligator::autodiff::FiniteDifferenceHelper< _Scalar >	Approximate the derivatives of a given function using finite differences, to downcast the function to a StageFunctionTpl
Caligator::detail::StateOrControlErrorResidual< _Scalar, arg >	Residual \(r(z) = z \ominus z_{tar} \)
►Caligator::StageModelTpl< Scalar >	A stage in the control problem
Caligator::compat::croc::ActionModelWrapperTpl< Scalar >	Wraps a crocoddyl::ActionModelAbstract
Caligator::TrajOptDataTpl< Scalar >	Problem data struct
Caligator::TrajOptProblemTpl< Scalar >	Trajectory optimization problem
►CTs...
Caligator::overloads< Ts >	Utility helper struct for creating visitors from lambdas
Caligator::gar::StageFactor< _Scalar >::value_t
Caligator::ValueFunctionTpl< _Scalar >	Storage for the value function model parameters
Caligator::gar::workrange_t
►Caligator::WorkspaceBaseTpl< Scalar >	Base workspace struct for the algorithms
Caligator::WorkspaceFDDPTpl< Scalar >	Workspace for solver SolverFDDP
Caligator::WorkspaceTpl< Scalar >	Workspace for solver SolverProxDDP
►Cboost::python::wrapper
Caligator::python::CallbackWrapper
Caligator::python::ContinousDataWrapper
Caligator::python::CostDataWrapper
Caligator::python::ExplicitDataWrapper
Caligator::python::FunctionDataWrapper	Required trampoline class
►CLinesearch
Caligator::NonmonotoneLinesearch< Scalar >	Nonmonotone Linesearch algorithm. Modifies the Armijo condition with a moving average of function values
►CManifoldAbstractTpl
Caligator::compat::croc::StateWrapperTpl< _Scalar >	Wraps a crocoddyl::StateAbstractTpl to a manifold (proxsuite::nlp::ManifoldAbstractTpl)