| C_FunType | |
| Caligator::ALFunction< _Scalar > | Primal-dual augmented Lagrangian merit function |
| Caligator::SolverProxDDPTpl< _Scalar >::AlmParams | |
| ►CBaseData | |
| Caligator::DirectSumCostTpl< Scalar >::Data | |
| Caligator::DirectSumExplicitDynamicsTpl< Scalar >::Data | |
| Caligator::BlkMatrix< _MatrixType, _N, _M > | Block matrix class, with a fixed or dynamic-size number of row and column blocks |
| Caligator::python::BlkMatrixPythonVisitor< BlockMatrixType > | |
| ►Cstd::bool_constant | |
| Caligator::is_eigen< T > | |
| ►Caligator::CallbackBaseTpl< Scalar > | Base callback class |
| Caligator::HistoryCallbackTpl< Scalar > | Store the history of results |
| Caligator::python::CallbackWrapper | |
| Caligator::gar::ParallelRiccatiSolver< _Scalar >::CondensedKkt | |
| Caligator::ConstraintProximalScalerTpl< Scalar > | |
| ►Caligator::ConstraintSetTpl< _Scalar > | Base constraint set type |
| Caligator::EqualityConstraintTpl< _Scalar > | Equality constraints \(c(x) = 0\) |
| Caligator::NegativeOrthantTpl< _Scalar > | Negative orthant, for constraints \(h(x)\leq 0\) |
| Caligator::NonsmoothPenaltyL1Tpl< _Scalar > | Composite \(\ell_1\)-penalty function \( \|c(x)\|_1 \) |
| ►Caligator::ConstraintSetTpl< Scalar > | |
| Caligator::EqualityConstraintTpl< Scalar > | |
| Caligator::NegativeOrthantTpl< Scalar > | |
| Caligator::NonsmoothPenaltyL1Tpl< Scalar > | |
| Caligator::BoxConstraintTpl< Scalar > | Box constraint set \(z \in [z_\min, z_\max]\) |
| Caligator::ConstraintSetProductTpl< Scalar > | Cartesian product of multiple constraint sets. This class makes computing multipliers and Jacobian matrix projections more convenient |
| Caligator::ConstraintStackTpl< Scalar > | Convenience class to manage a stack of constraints |
| Caligator::ContactMapTpl< _Scalar > | Contact map for centroidal costs and dynamics |
| ►Caligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar > | Continuous dynamics described by differential-algebraic equations (DAEs) \(F(\dot{x}, x, u) = 0\) |
| ►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::KinodynamicsFwdDynamicsTpl< _Scalar > | Nonlinear centroidal and full kinematics forward dynamics |
| Caligator::dynamics::LinearODETpl< _Scalar > | Linear ordinary differential equation \(\dot{x} = Ax + Bu\) |
| Caligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar > | Constraint multibody forward dynamics, using Pinocchio |
| Caligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar > | Free-space multibody forward dynamics, using Pinocchio |
| Caligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar > | |
| ►Caligator::dynamics::ContinuousDynamicsAbstractTpl< Scalar > | |
| ►Caligator::dynamics::ODEAbstractTpl< Scalar > | |
| Caligator::dynamics::CentroidalFwdDynamicsTpl< Scalar > | |
| Caligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< Scalar > | |
| Caligator::dynamics::WheeledInvertedPendulumDynamicsTpl< Scalar > | |
| Caligator::python::PyODEAbstract< T > | |
| Caligator::python::PyContinuousDynamics< T > | |
| Caligator::dynamics::ContinuousDynamicsDataTpl< _Scalar > | Data struct for ContinuousDynamicsAbstractTpl |
| ►Caligator::dynamics::ContinuousDynamicsDataTpl< Scalar > | |
| Caligator::dynamics::CentroidalFwdDataTpl< Scalar > | |
| Caligator::dynamics::ContinuousCentroidalFwdDataTpl< Scalar > | |
| Caligator::dynamics::KinodynamicsFwdDataTpl< Scalar > | |
| Caligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar > | |
| Caligator::dynamics::MultibodyFreeFwdDataTpl< Scalar > | |
| Caligator::python::ContinousDataWrapper | |
| ►Caligator::context::CostAbstractTpl< _Scalar > | Stage costs \( \ell(x, u) \) for control problems |
| 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 > | |
| ►Caligator::CostAbstractTpl< _Scalar > | Stage costs \( \ell(x, u) \) for control problems |
| 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 > | |
| ►Caligator::CostAbstractTpl< Scalar > | |
| Caligator::CostStackTpl< Scalar > | |
| Caligator::DirectSumCostTpl< Scalar > | |
| Caligator::DirectSumCostTpl< Scalar >::Data | |
| Caligator::QuadraticCostTpl< Scalar > | |
| ►Caligator::QuadraticResidualCostTpl< Scalar > | |
| Caligator::QuadraticControlCostTpl< Scalar > | |
| Caligator::QuadraticStateCostTpl< Scalar > | Quadratic distance cost over the state manifold |
| Caligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data | |
| Caligator::compat::croc::CrocCostModelWrapperTpl< Scalar > | |
| Caligator::LogResidualCostTpl< Scalar > | Log-barrier of an underlying cost function |
| Caligator::RelaxedLogBarrierCostTpl< Scalar > | Log-barrier of an underlying cost function |
| Caligator::autodiff::CostFiniteDifferenceHelper< Scalar > | |
| Caligator::python::PyCostFunction | Wrapper for the CostDataAbstractTpl class and its children |
| ►Caligator::CostDataAbstractTpl< _Scalar > | Data struct for CostAbstractTpl |
| Caligator::CostStackDataTpl< _Scalar > | |
| ►Caligator::CostDataAbstractTpl< Scalar > | |
| Caligator::CostStackDataTpl< Scalar > | |
| Caligator::CompositeCostDataTpl< Scalar > | Data struct for composite costs |
| Caligator::QuadraticCostDataTpl< Scalar > | |
| Caligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data | |
| Caligator::compat::croc::CrocCostDataWrapperTpl< Scalar > | |
| Caligator::python::CostDataWrapper | |
| Caligator::gar::StageFactor< _Scalar >::CostToGo | |
| Caligator::DirectSumCostTpl< _Scalar >::Data | |
| Caligator::DirectSumExplicitDynamicsTpl< _Scalar >::Data | |
| Caligator::gar::DenseKernel< _Scalar >::Data | |
| ►Cboost::python::def_visitor | |
| Caligator::python::BlkMatrixPythonVisitor< BlkMatrix< MatrixType, N, M > > | |
| 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::gar::DenseKernel< _Scalar > | A dense Bunch-Kaufman based kernel |
| ►Caligator::DynamicsDataTpl< _Scalar > | |
| ►Caligator::dynamics::IntegratorDataTpl< _Scalar > | Data class for numerical integrators (IntegratorAbstractTpl) |
| Caligator::dynamics::IntegratorMidpointDataTpl< _Scalar > | |
| ►Caligator::DynamicsDataTpl< Scalar > | |
| ►Caligator::dynamics::IntegratorDataTpl< Scalar > | |
| Caligator::dynamics::IntegratorMidpointDataTpl< Scalar > | |
| ►Caligator::DynamicsModelTpl< _Scalar > | Dynamics model: describes system dynamics through an implicit relation \(f(x,u,x') = 0\) |
| Caligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar > | |
| ►Caligator::dynamics::IntegratorAbstractTpl< _Scalar > | Base class for (implicit) numerical integrators |
| Caligator::dynamics::IntegratorMidpointTpl< _Scalar > | Midpoint integration rule |
| ►Caligator::DynamicsModelTpl< Scalar > | |
| Caligator::dynamics::IntegratorAbstractTpl< Scalar > | |
| Caligator::python::PyDynamics< Base > | |
| ►Cstd::exception | STL class |
| ►Cstd::runtime_error | STL class |
| Caligator::RuntimeError | |
| ►Caligator::ExplicitDynamicsDataTpl< _Scalar > | Specific data struct for explicit dynamics ExplicitDynamicsModelTpl |
| Caligator::dynamics::ExplicitIntegratorDataTpl< _Scalar > | |
| ►Caligator::ExplicitDynamicsDataTpl< Scalar > | |
| ►Caligator::dynamics::ExplicitIntegratorDataTpl< Scalar > | |
| Caligator::dynamics::IntegratorRK2DataTpl< Scalar > | |
| Caligator::dynamics::IntegratorSemiImplDataTpl< Scalar > | |
| Caligator::compat::croc::DynamicsDataWrapperTpl< Scalar > | |
| Caligator::python::ExplicitDataWrapper | |
| ►Caligator::ExplicitDynamicsModelTpl< _Scalar > | Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \) |
| 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 > | |
| Caligator::DirectSumExplicitDynamicsTpl< Scalar > | |
| Caligator::DirectSumExplicitDynamicsTpl< Scalar >::Data | |
| ►Caligator::dynamics::ExplicitIntegratorAbstractTpl< Scalar > | |
| Caligator::dynamics::IntegratorSemiImplEulerTpl< Scalar > | |
| Caligator::compat::croc::NoOpDynamics< Scalar > | |
| Caligator::python::PyExplicitDynamics< Base > | |
| Caligator::FilterTpl< Scalar > | A basic filter line-search strategy |
| Caligator::ForwardDynamicsOptions< T > | |
| ►Caligator::frame_api | |
| Caligator::FlyHighResidualTpl< _Scalar >::Data | |
| 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::FlyHighResidualTpl< _Scalar > | A port of sobec's ResidualModelFlyHighTpl |
| Caligator::FrameCollisionResidualTpl< _Scalar > | |
| Caligator::FramePlacementResidualTpl< _Scalar > | |
| Caligator::FrameTranslationResidualTpl< _Scalar > | |
| Caligator::FrameVelocityResidualTpl< _Scalar > | |
| Caligator::Linesearch< T >::FunctionSample | |
| 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 |
| ►Cstd::hash | |
| Caligator::ExtendedStringHash | Extended hashing function for strings which supports const char* and std::string_view |
| ►Cboost::python::instance_holder | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyContinuousDynamics<> > | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyCostFunction > | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyDynamics< aligator::context::IntegratorAbstract > > | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyDynamics<> > | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyExplicitDynamics< aligator::context::ExplicitIntegratorAbstract > > | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyExplicitDynamics<> > | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyODEAbstract<> > | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyStageFunction<> > | |
| Caligator::python::OwningNonOwningHolder< aligator::python::PyUnaryFunction<> > | |
| Caligator::python::OwningNonOwningHolder< Value > | |
| Caligator::is_tpl_base_of< Base, Derived > | |
| Caligator::gar::ProximalRiccatiKernel< Scalar >::kkt0_t | |
| Caligator::LagrangianDerivatives< Scalar > | Compute the derivatives of the problem Lagrangian |
| Caligator::Linesearch< T > | Base linesearch class. Design pattern inspired by Google Ceres-Solver |
| ►Caligator::Linesearch< Scalar > | |
| Caligator::ArmijoLinesearch< Scalar > | Basic backtracking Armijo line-search strategy |
| Caligator::NonmonotoneLinesearch< Scalar > | Nonmonotone Linesearch algorithm. Modifies the Armijo condition with a moving average of function values |
| Caligator::LinesearchOptions< T > | |
| 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::ManifoldAbstractTpl< _Scalar > | Base class for manifolds, to use in cost funcs, solvers.. |
| Caligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > > | |
| Caligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > > | |
| Caligator::CartesianProductTpl< _Scalar > | The cartesian product of two or more manifolds |
| Caligator::MultibodyConfiguration< _Scalar > | Multibody configuration group \(\mathcal{Q}\), defined using the Pinocchio library |
| Caligator::VectorSpaceTpl< _Scalar, _Dim > | Standard Euclidean vector space |
| Caligator::compat::croc::StateWrapperTpl< _Scalar > | Wraps a crocoddyl::StateAbstractTpl to a manifold (aligator::ManifoldAbstractTpl) |
| ►Caligator::ManifoldAbstractTpl< Base::Scalar > | |
| Caligator::TangentBundleTpl< Base > | Tangent bundle of a base manifold M |
| ►Caligator::ManifoldAbstractTpl< G::Scalar > | |
| Caligator::PinocchioLieGroup< G, > | Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object |
| ►Caligator::ManifoldAbstractTpl< MultibodyConfiguration< Scalar >::Scalar > | |
| ►Caligator::TangentBundleTpl< MultibodyConfiguration< Scalar > > | |
| Caligator::MultibodyPhaseSpace< Scalar > | The tangent bundle of a multibody configuration group |
| ►Caligator::ManifoldAbstractTpl< Scalar > | |
| Caligator::CartesianProductTpl< Scalar > | |
| Caligator::MultibodyConfiguration< Scalar > | |
| Caligator::VectorSpaceTpl< Scalar, Eigen::Dynamic > | |
| Caligator::VectorSpaceTpl< Scalar > | |
| Caligator::VectorSpaceTpl< Scalar, 7 > | |
| Caligator::compat::croc::StateWrapperTpl< Scalar > | |
| ►CEigen::Map | |
| Caligator::ArenaMatrix< MatrixXs > | |
| Caligator::ArenaMatrix< VectorXs > | |
| Caligator::ArenaMatrix< RowMatrixXs > | |
| Caligator::ArenaMatrix< MatrixType, Alignment > | |
| Caligator::math_types< _Scalar > | Typedefs for math (Eigen vectors, matrices) depending on scalar type |
| Caligator::NewtonRaphson< Scalar > | Newton-Raphson procedure, e.g. to compute forward dynamics from implicit functions |
| Caligator::NewtonRaphson< Scalar >::Options | |
| Caligator::polymorphic< T, A > | |
| Caligator::python::polymorphic< T, A > | |
| ►Cstd::pmr::polymorphic_allocator | |
| Caligator::polymorphic_allocator | A convenience subclass of std::pmr::polymorphic_allocator for bytes |
| Caligator::python::PolymorphicVisitor< Poly > | |
| Caligator::PolynomialTpl< T > | Polynomials represented by their coefficients in decreasing order of degree |
| 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 > | Results holder struct |
| ►Caligator::ResultsBaseTpl< Scalar > | |
| Caligator::ResultsTpl< Scalar > | |
| Caligator::ResultsFDDPTpl< Scalar > | |
| ►Caligator::gar::RiccatiSolverBase< _Scalar > | |
| Caligator::gar::ParallelRiccatiSolver< _Scalar > | A parallel-condensing LQ solver |
| 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::gar::ProximalRiccatiSolver< Scalar > | |
| Caligator::shared_ptr< T > | STL class |
| ►Caligator::detail::slice_impl_tpl< StageFunctionTpl< Scalar > > | |
| Caligator::FunctionSliceXprTpl< Scalar, StageFunctionTpl< Scalar > > | |
| ►Caligator::detail::slice_impl_tpl< UnaryFunctionTpl< Scalar > > | |
| Caligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > > | |
| ►CSolverBase | |
| CEigen::BunchKaufman< MatrixXs > | |
| CEigen::BunchKaufman< MatrixType_, UpLo_ > | |
| 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 |
| 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::StageDataTpl< Scalar > | |
| 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::StageFunctionDataTpl< _Scalar > | Base struct for function data |
| ►Caligator::StageFunctionDataTpl< Scalar > | |
| 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::ContactForceDataTpl< Scalar > | |
| Caligator::DCMPositionDataTpl< Scalar > | |
| Caligator::FlyHighResidualTpl< _Scalar >::Data | |
| Caligator::FrameCollisionDataTpl< Scalar > | |
| Caligator::FramePlacementDataTpl< Scalar > | |
| Caligator::FrameTranslationDataTpl< Scalar > | |
| Caligator::FrameVelocityDataTpl< Scalar > | |
| Caligator::FunctionSliceDataTpl< Scalar > | |
| Caligator::GravityCompensationResidualTpl< _Scalar >::Data | |
| Caligator::LinearMomentumDataTpl< Scalar > | |
| Caligator::MultibodyFrictionConeDataTpl< Scalar > | |
| Caligator::MultibodyWrenchConeDataTpl< Scalar > | |
| Caligator::python::FunctionDataWrapper | Required trampoline class |
| ►Caligator::StageFunctionTpl< _Scalar > | Class representing ternary functions \(f(x,u,x')\) |
| ►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::ContactForceResidualTpl< _Scalar > | This residual returns the derivative of centroidal momentum for a kinodynamics model |
| Caligator::GravityCompensationResidualTpl< _Scalar > | |
| Caligator::MultibodyFrictionConeResidualTpl< _Scalar > | This residual returns the derivative of centroidal momentum for a kinodynamics model |
| Caligator::MultibodyWrenchConeResidualTpl< _Scalar > | This residual returns the derivative of centroidal momentum for a kinodynamics model |
| ►Caligator::UnaryFunctionTpl< _Scalar > | Represents unary functions of the form \(f(x)\), with no control (or next-state) arguments |
| ►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::FlyHighResidualTpl< _Scalar > | A port of sobec's ResidualModelFlyHighTpl |
| Caligator::FrameCollisionResidualTpl< _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::autodiff::FiniteDifferenceHelper< _Scalar > | Approximate the derivatives of a given function using finite differences, to downcast the function to a StageFunctionTpl |
| ►Caligator::StageFunctionTpl< Scalar > | |
| Caligator::GravityCompensationResidualTpl< Scalar > | |
| ►Caligator::UnaryFunctionTpl< Scalar > | |
| Caligator::FlyHighResidualTpl< _Scalar >::Data | |
| Caligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > > | |
| Caligator::python::PyUnaryFunction< UFunction > | |
| ►Caligator::detail::StateOrControlErrorResidual< Scalar, 0 > | |
| Caligator::StateErrorResidualTpl< Scalar > | State error \(x \ominus x_\text{ref}\) |
| ►Caligator::detail::StateOrControlErrorResidual< Scalar, 1 > | |
| Caligator::ControlErrorResidualTpl< Scalar > | |
| Caligator::FunctionSliceXprTpl< Scalar, StageFunctionTpl< Scalar > > | |
| Caligator::LinearFunctionTpl< Scalar > | Linear function \(f(x,u,y) = Ax + Bu + Cy + d\) |
| Caligator::python::PyStageFunction< FunctionBase > | |
| Caligator::StageModelTpl< _Scalar > | A stage in the control problem |
| ►Caligator::StageModelTpl< Scalar > | |
| 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::DenseKernel< _Scalar >::value | |
| Caligator::ValueFunctionTpl< _Scalar > | Storage for the value function model parameters |
| ►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::PolymorphicWrapper< PyContinuousDynamics< context::ContinuousDynamicsAbstract >, context::ContinuousDynamicsAbstract > | |
| Caligator::python::PyContinuousDynamics< T > | |
| ►Caligator::python::PolymorphicWrapper< PyCostFunction, context::CostAbstract > | |
| Caligator::python::PyCostFunction | Wrapper for the CostDataAbstractTpl class and its children |
| ►Caligator::python::PolymorphicWrapper< PyDynamics< context::DynamicsModel >, context::DynamicsModel > | |
| Caligator::python::PyDynamics< Base > | |
| ►Caligator::python::PolymorphicWrapper< PyExplicitDynamics< context::ExplicitDynamics >, context::ExplicitDynamics > | |
| Caligator::python::PyExplicitDynamics< Base > | |
| ►Caligator::python::PolymorphicWrapper< PyODEAbstract< context::ODEAbstract >, context::ODEAbstract > | |
| Caligator::python::PyODEAbstract< T > | |
| ►Caligator::python::PolymorphicWrapper< PyStageFunction< context::StageFunction >, context::StageFunction > | |
| Caligator::python::PyStageFunction< FunctionBase > | |
| ►Caligator::python::PolymorphicWrapper< PyUnaryFunction< context::UnaryFunction >, context::UnaryFunction > | |
| Caligator::python::PyUnaryFunction< UFunction > | |
| Caligator::python::CallbackWrapper | |
| Caligator::python::ContinousDataWrapper | |
| Caligator::python::CostDataWrapper | |
| Caligator::python::ExplicitDataWrapper | |
| Caligator::python::FunctionDataWrapper | Required trampoline class |
| Caligator::python::PolymorphicWrapper< _PyBase, _Base > | |
1.13.2