| C_Base | |
| ►C_FunType | |
| Caligator::detail::linear_func_composition_impl< _FunType > | |
| 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< MatrixXs, 4, 4 > | |
| Caligator::BlkMatrix< RowMatrixXs, 2, 1 > | |
| Caligator::BlkMatrix< RowMatrixXs, 4, 1 > | |
| Caligator::BlkMatrix< VectorXs, -1, 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::Cloneable< T > | Mixin which makes a class/class hierarchy cloneable |
| ►Caligator::StageDataTpl< Scalar > | |
| Caligator::compat::croc::ActionDataWrapperTpl< Scalar > | A complicated child class to StageDataTpl which pipes Crocoddyl's data to the right places |
| ►Caligator::StageFunctionDataTpl< Scalar > | |
| Caligator::AngularAccelerationDataTpl< Scalar > | |
| Caligator::AngularMomentumDataTpl< Scalar > | |
| Caligator::CenterOfMassTranslationDataTpl< Scalar > | |
| Caligator::CenterOfMassVelocityDataTpl< Scalar > | |
| Caligator::CentroidalAccelerationDataTpl< Scalar > | |
| Caligator::CentroidalCoMDataTpl< Scalar > | |
| Caligator::CentroidalMomentumDataTpl< Scalar > | |
| Caligator::CentroidalMomentumDerivativeDataTpl< Scalar > | |
| Caligator::CentroidalWrapperDataTpl< Scalar > | |
| Caligator::FlyHighResidualTpl< _Scalar >::Data | |
| Caligator::FramePlacementDataTpl< Scalar > | |
| Caligator::FrameTranslationDataTpl< Scalar > | |
| Caligator::FrameVelocityDataTpl< Scalar > | |
| Caligator::FrictionConeDataTpl< Scalar > | This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \) |
| Caligator::FunctionSliceDataTpl< Scalar > | |
| Caligator::LinearMomentumDataTpl< Scalar > | |
| Caligator::WrenchConeDataTpl< 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::detail::linear_func_composition_impl< _FunType >::Data | |
| ►Caligator::dynamics::IntegratorDataTpl< _Scalar > | Data class for numerical integrators (IntegratorAbstractTpl) |
| Caligator::dynamics::IntegratorMidpointDataTpl< _Scalar > | |
| ►Caligator::StageModelTpl< Scalar > | |
| Caligator::compat::croc::ActionModelWrapperTpl< Scalar > | Wraps a crocoddyl::ActionModelAbstract |
| ►Caligator::Cloneable< StageDataTpl< _Scalar > > | |
| Caligator::StageDataTpl< _Scalar > | Data struct for stage models StageModelTpl |
| Caligator::Cloneable< StageDataTpl< Scalar > > | |
| ►Caligator::Cloneable< StageFunctionDataTpl< _Scalar > > | |
| ►Caligator::StageFunctionDataTpl< _Scalar > | Base struct for function data |
| ►Caligator::ExplicitDynamicsDataTpl< Scalar > | |
| Caligator::compat::croc::DynamicsDataWrapperTpl< Scalar > | |
| ►Caligator::ExplicitDynamicsDataTpl< _Scalar > | Specific data struct for explicit dynamics ExplicitDynamicsModelTpl |
| ►Caligator::dynamics::ExplicitIntegratorDataTpl< Scalar > | |
| Caligator::dynamics::IntegratorRK2DataTpl< Scalar > | |
| Caligator::dynamics::IntegratorSemiImplDataTpl< Scalar > | |
| Caligator::dynamics::ExplicitIntegratorDataTpl< _Scalar > | |
| Caligator::Cloneable< StageFunctionDataTpl< Scalar > > | |
| ►Caligator::Cloneable< StageModelTpl< _Scalar > > | |
| Caligator::StageModelTpl< _Scalar > | A stage in the control problem |
| Caligator::Cloneable< StageModelTpl< Scalar > > | |
| Caligator::ConstraintProximalScalerTpl< Scalar > | Weighting strategy for the constraints in a stack |
| 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::dynamics::ODEAbstractTpl< context::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::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::python::PyODEAbstract< T > | |
| Caligator::python::PyContinuousDynamics< T > | |
| Caligator::dynamics::ContinuousDynamicsAbstractTpl< context::Scalar > | |
| ►CContinuousDynamicsData | |
| Caligator::python::ContinousDataWrapper | |
| Caligator::dynamics::ContinuousDynamicsDataTpl< _Scalar > | Data struct for ContinuousDynamicsAbstractTpl |
| Caligator::dynamics::ContinuousDynamicsDataTpl< 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::ConstantCostTpl< _Scalar > | Constant cost |
| Caligator::CostStackTpl< _Scalar > | Weighted sum of multiple cost components |
| Caligator::DirectSumCostTpl< _Scalar > | |
| Caligator::ProximalPenaltyTpl< _Scalar > | Proximal penalty cost |
| Caligator::QuadraticCostTpl< _Scalar > | Euclidean quadratic cost |
| Caligator::QuadraticResidualCostTpl< _Scalar > | Quadratic composite of an underlying function |
| Caligator::compat::croc::CrocCostModelWrapperTpl< _Scalar > | |
| ►Caligator::CostAbstractTpl< Scalar > | |
| Caligator::LogResidualCostTpl< Scalar > | Log-barrier of an underlying cost function |
| Caligator::autodiff::CostFiniteDifferenceHelper< Scalar > | |
| ►CCostData | |
| Caligator::python::CostDataWrapper | |
| ►Caligator::CostDataAbstractTpl< _Scalar > | Data struct for CostAbstractTpl |
| Caligator::CostStackDataTpl< _Scalar > | |
| ►Caligator::CostDataAbstractTpl< Scalar > | |
| Caligator::CompositeCostDataTpl< Scalar > | Data struct for composite costs |
| Caligator::DirectSumCostTpl< _Scalar >::Data | |
| Caligator::ProximalDataTpl< Scalar > | Data for proximal penalty |
| Caligator::QuadraticCostDataTpl< Scalar > | |
| Caligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data | |
| Caligator::compat::croc::CrocCostDataWrapperTpl< 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::PrintAddressVisitor< T > | |
| Caligator::python::PrintableVisitor< T > | |
| Caligator::python::SlicingVisitor< Class > | |
| Caligator::python::SolverVisitor< SolverType > | |
| Caligator::DefaultScaling< Scalar > | TODO: NEW G.A.R. BACKEND CAN'T HANDLE DIFFERENT WEIGHTS, PLS FIX |
| ►CDynamicsModelTpl | |
| ►Caligator::autodiff::internal::finite_difference_impl< _Scalar, DynamicsModelTpl > | |
| Caligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar > | |
| ►Cstd::enable_shared_from_this | |
| ►Caligator::StageFunctionTpl< Scalar > | |
| Caligator::LinearFunctionTpl< Scalar > | Linear function \(f(x,u,y) = Ax + Bu + Cy + d\) |
| ►Caligator::StageFunctionTpl< _Scalar > | Class representing ternary functions \(f(x,u,x')\) |
| ►Caligator::UnaryFunctionTpl< Scalar > | |
| Caligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > > | |
| ►Caligator::detail::StateOrControlErrorResidual< Scalar, 1 > | |
| Caligator::ControlErrorResidualTpl< Scalar > | |
| ►Caligator::detail::StateOrControlErrorResidual< Scalar, 0 > | |
| Caligator::StateErrorResidualTpl< Scalar > | |
| ►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::CentroidalMomentumDerivativeResidualTpl< _Scalar > | This residual returns the derivative of centroidal momentum for a kinodynamics model |
| ►Caligator::DynamicsModelTpl< _Scalar > | Dynamics model: describes system dynamics through an implicit relation \(f(x,u,x') = 0\) |
| ►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::dynamics::IntegratorAbstractTpl< _Scalar > | Base class for (implicit) numerical integrators |
| Caligator::dynamics::IntegratorMidpointTpl< _Scalar > | Midpoint integration rule |
| Caligator::FrictionConeResidualTpl< _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::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::FlyHighResidualTpl< _Scalar > | A port of sobec's ResidualModelFlyHighTpl |
| 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::WrenchConeResidualTpl< _Scalar > | |
| Caligator::detail::StateOrControlErrorResidual< _Scalar, arg > | Residual \(r(z) = z \ominus z_{tar} \) |
| ►Cstd::exception | STL class |
| ►Cstd::runtime_error | STL class |
| Caligator::RuntimeError | |
| ►CExplicitDynamicsData | |
| Caligator::python::ExplicitDataWrapper | |
| Caligator::gar::RiccatiSolverDense< _Scalar >::FactorData | |
| 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::CentroidalMomentumDerivativeResidualTpl< _Scalar > | This residual returns the derivative of centroidal momentum for a kinodynamics model |
| Caligator::CentroidalMomentumResidualTpl< _Scalar > | This residual returns the derivative of centroidal momentum for a kinodynamics model |
| Caligator::FlyHighResidualTpl< _Scalar > | A port of sobec's ResidualModelFlyHighTpl |
| Caligator::FramePlacementResidualTpl< _Scalar > | |
| Caligator::FrameTranslationResidualTpl< _Scalar > | |
| Caligator::FrameVelocityResidualTpl< _Scalar > | |
| Caligator::gar::ProximalRiccatiKernel< Scalar >::kkt0_t | |
| Caligator::LagrangianDerivatives< Scalar > | Compute the derivatives of the problem Lagrangian |
| 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 > > | |
| Caligator::PDALFunction< _Scalar > | Primal-dual augmented Lagrangian merit function |
| 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::ResultsTpl< _Scalar > | Results holder struct |
| ►Caligator::ResultsBaseTpl< Scalar > | |
| Caligator::ResultsFDDPTpl< Scalar > | |
| ►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 |
| Caligator::gar::RiccatiSolverBase< Scalar > | |
| ►Caligator::detail::slice_impl_tpl< Base > | Slicing and indexing of a function's output |
| 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::detail::slice_impl_tpl< 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::gar::StageFactor< _Scalar > | Per-node struct for all computations in the factorization |
| Caligator::gar::StageFactor< Scalar > | |
| ►CStageFunctionData | |
| Caligator::python::FunctionDataWrapper | Required trampoline class |
| ►CStageFunctionTpl | |
| ►Caligator::autodiff::internal::finite_difference_impl< _Scalar, StageFunctionTpl > | |
| Caligator::autodiff::FiniteDifferenceHelper< _Scalar > | Approximate the derivatives of a given function using finite differences, to downcast the function to a StageFunctionTpl |
| Caligator::TrajectoryTpl< Scalar > | |
| Caligator::TrajOptDataTpl< _Scalar > | Problem data struct |
| Caligator::TrajOptDataTpl< Scalar > | |
| Caligator::TrajOptProblemTpl< _Scalar > | Trajectory optimization problem |
| 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 |
| Caligator::python::PyContinuousDynamics< T > | |
| Caligator::python::PyODEAbstract< T > | |
| ►CManifoldAbstractTpl | |
| Caligator::compat::croc::StateWrapperTpl< _Scalar > | Wraps a crocoddyl::StateAbstractTpl to a manifold (proxsuite::nlp::ManifoldAbstractTpl) |
| ►CODEDataTpl | |
| Caligator::dynamics::CentroidalFwdDataTpl< Scalar > | |
| Caligator::dynamics::ContinuousCentroidalFwdDataTpl< Scalar > | |
| Caligator::dynamics::KinodynamicsFwdDataTpl< Scalar > | |
| Caligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar > | |
| Caligator::dynamics::MultibodyFreeFwdDataTpl< Scalar > | |
1.10.0