Classes

• namespace iCub
  • namespace iKin
• namespace iDynTree
  • namespace details
    • struct calculate_byte_size
    • struct calculate_byte_size<ElementType, dynamic_extent>
    • struct calculate_subspan_type
    • class extent_type
    • class extent_type<dynamic_extent>
    • struct is_allowed_element_type_conversion
    • struct is_allowed_extent_conversion
    • struct is_span
    • struct is_span_oracle
    • struct is_span_oracle<iDynTree::Span<ElementType, Extent>>
    • struct is_std_array
    • struct is_std_array_oracle
    • struct is_std_array_oracle<std::array<ElementType, Extent>>
    • class span_iterator
  • namespace MatrixViewInternal
    • struct has_IsRowMajor has_IsRowMajor is used to build a type-dependent expression that check if an element has IsRowMajor argument.
    • struct has_IsRowMajor<T, SpanUtils::void_t<decltype(T::IsRowMajor)>> has_IsRowMajor is used to build a type-dependent expression that check if an element has IsRowMajor argument.
  • namespace optimalcontrol
    • namespace integrators
      • class CollocationHessianIndex
      • class FixedStepIntegrator
      • class ForwardEuler
      • class ImplicitTrapezoidal
      • class Integrator The Integrator base class.
      • class IntegratorInfo Class containing infos about the implemented integrator.
      • class IntegratorInfoData
      • class RK4
      • class SolutionElement Output of the integrator at a specific time.
    • class Constraint The Constraint virtual class definition.
    • class ConstraintsGroup Class grouping constraints associated with a TimeRange.
    • class ControlledDynamicalSystem The ControlledDynamicalSystem class allows to easily connect a DynamicalSystem with a Controller.
    • class Controller Class describing a generic controller.
    • class Cost The Cost virtual class definition.
    • class DynamicalSystem DynamicalSystem base class.
    • class L2NormCost
    • class LinearConstraint
    • class LinearCost
    • class LinearMPC
    • class LinearSystem
    • class MPC
    • class MultiBodySystem
    • class MultipleShootingSolver
    • struct NonZero
    • class OptimalControlProblem
    • class OptimalControlSolver
    • class QuadraticCost
    • class QuadraticLikeCost
    • class SparsityStructure
    • class SystemLineariser
    • class TimeInvariantObject
    • class TimeRange
    • class TimeVaryingObject
  • namespace optimization
    • class AlglibInterface
    • class IpoptInterface
    • class OptimizationProblem
    • class OptimizationProblemInfo
    • class OptimizationProblemInfoData
    • class Optimizer
    • class OsqpInterface
    • struct OsqpSettings
    • class WorhpInterface
  • namespace SpanUtils
    • struct has_data_method
    • struct has_data_method<T, void_t<decltype(std::declval<T>().data())>>
    • struct has_size_method
    • struct has_size_method<T, void_t<decltype(std::declval<T>().size())>>
    • struct is_element_defined
    • struct is_element_defined<T, void_t<typename T::element_type>>
    • struct is_value_defined
    • struct is_value_defined<T, void_t<typename T::value_type>>
    • struct make_void
  • class AccelerometerSensor Interface to the Accelerometer class.
  • class AccelerometerSensorHelper final
  • struct ApproximateSolidShapesWithPrimitiveShapeOptions
  • struct ArticulatedBodyAlgorithmInternalBuffers Structure of buffers required by ArticulatedBodyAlgorithm.
  • class ArticulatedBodyInertia Class representing an Articulated Body Inertia.
  • struct AttitudeEstimatorState
  • class AttitudeMahonyFilter explicit passive complementary filter on quaternion groups described in the paper Non-linear complementary filters on SO3 groups
  • struct AttitudeMahonyFilterParameters set up the quaternion EKF
  • class AttitudeQuaternionEKF Quaternion based Discrete Extended Kalman Filter fusing IMU measurements, to give estimates of orientation, angular velocity and gyroscope bias.
  • struct AttitudeQuaternionEKFParameters set up the quaternion EKF
  • class Axis Class representing an axis (a directed line) in space.
  • struct BerdyDynamicVariable
  • class BerdyHelper Helper class for computing Berdy matrices.
  • struct BerdyOptions Options of the BerdyHelper class.
  • struct BerdySensor Structure which describes the essential information about a sensor used in berdy A sensor is identified by the pair (type, id)
  • class BerdySparseMAPSolver
  • class BipedFootContactClassifier
  • class BoundingBoxProjectionConstraint BoundingBoxProjectionConstraint helper.
  • class Box Box, i.e.
  • class ClassicalAcc Class representing a classical 6D acceleration, i.e.
  • class ColorViz Basic structure to encode color information.
  • class ContactStateMachine Contact State Machine class for binary contact state detection Contains a Schmitt Trigger device for updating the contact states using the contact normal force acting on the contact link and Determines contact transitions using simple binary switching logic.
  • class ContactWrench A wrench excerted on a link due to an external contact.
  • class ConvexHullProjectionConstraint ConvexHullProjectionConstraint helper.
  • class CubicSpline
  • class Cylinder
  • class DHChain Simple representation of a chain described with Denavit-Hartenberg Parameters.
  • struct DHLink Structure representing the four DH parameters of a link in a Chain.
  • class Direction Class representing the coordinates of a direction in the 3D space.
  • class DiscreteExtendedKalmanFilterHelper class implementation of discrete EKF with additive Gaussian noise
  • class DiscreteKalmanFilterHelper Discrete Kalman Filter with additive Gaussian noise.
  • class DOFSpatialForceArray Class for storing a vector of spatial force vectors, one for each dof in a model.
  • class DOFSpatialMotionArray Class for storing a vector of spatial motion vectors, one for each (internal) dof in a model.
  • struct DualSpace Helper structure for dual space definition.
  • struct DualSpace<SpatialForceVector>
  • struct DualSpace<SpatialMotionVector>
  • class Dummy
  • struct estimateExternalWrenchesBuffers
  • class ExternalMesh
  • class ExtWrenchesAndJointTorquesEstimator Estimator for external wrenches and joint torques using internal F/T sensors.
  • class FixedJoint Class representing a fixed joint, i.e.
  • class ForceTorqueSensorElement
  • class ForceTorqueSensorHelper final
  • struct ForwardDynamicsLinearizationInternalBuffers Structure containing the internal buffers used by the ForwardDynamicsLinearization function.
  • class FrameFreeFloatingJacobian Jacobian of the 6D frame velocity.
  • class FreeFloatingAcc Class representing the accelerations of a Free Floating robot.
  • class FreeFloatingGeneralizedTorques
  • class FreeFloatingMassMatrix Class representing the mass matrix of a Free Floating robot.
  • class FreeFloatingPos Class representing the position of a Free Floating robot.
  • class FreeFloatingStateLinearization
  • class FreeFloatingVel
  • struct GeodesicL2MeanOptions Struct containing the options for geodesicL2MeanRotation and geodesicL2WeightedMeanRotation.
  • class GeometryElement
  • class GeomVector3
  • class GravityCompensationHelper Class computing the gravity compensation torques using accelerometer measurements.
  • class GyroscopeSensor Interface to the Gyroscope class.
  • class GyroscopeSensorHelper final
  • class IAttitudeEstimator for attitude estimator classes
  • class ICamera Interface to manipulate the camera parameters.
  • class ICameraAnimator Interface to animate the camera and control it via the mouse.
  • class iDynTreeLinkAndFrame Identifier for a link and frame couple in an iDynTree model.
  • class IEnvironment Interface to manipulate the elements in the enviroment (background, root frame, reference lines)
  • class IFrameVisualization Interface to the visualization of frames.
  • class IJetsVisualization Interface to the visualization of jets attached to a model.
  • class IJoint Interface (i.e.
  • class iKinLimbImported iKinLimb class to extract a iKinLimb from iDynTree structures.
  • class ILabel The interface to add a label in the visualizer.
  • class ILight Interface to a light visualization.
  • class IModelVisualization Interface to the visualization of a model istance.
  • struct IndexRange Simple structure describing a range of rows or columns in a vector or a matrix.
  • class InertialElement
  • class InverseKinematics NLP-based Inverse kinematics.
  • struct is_sparsematrix
  • struct is_sparsematrix<iDynTree::SparseMatrix<ordering>>
  • class IShapeVisualization Interface to the visualization of generic solid shapes.
  • class ITexture The interface for an object that can be used as an additional target for the renderer.
  • class ITexturesHandler
  • class IVectorsVisualization Interface to the visualization of vectors.
  • class JointDOFsDoubleArray Class for storing a vector of scalar values, one for each internal coordinate in a model.
  • class JointElement
    • struct JointDynamicsParams
    • struct JointInfo
    • struct Limits
  • class JointPosDoubleArray Class for storing a vector of scalar values, one for each internal position coordinate in a model.
  • class JointSensor Interface for Sensor that are associated to a Joint.
  • class KinDynComputations High level stateful class wrapping several kinematics and dynamics algorithms.
  • class Link Class that represents a link.
  • class LinkAccArray Class for storing a vector of spatial accelerations, one for each link in a model.
  • class LinkArticulatedBodyInertias Class for storing a vector of ArticulatedBodyInertias objects , one for each link in a model.
  • class LinkContactWrenches A set of ContactWrench for each link, representing all the contacts between the model and the external environment.
  • class LinkElement
  • class LinkInertias Class for storing a vector of SpatialInertia objects , one for each link in a model.
  • class LinkPositions
  • class LinkSensor Interface for Sensor that are associated to a Link.
  • class LinkTraversalsCache Link traversal cache, store a traversal for each link in the model.
  • class LinkUnknownWrenchContacts A set of UnknownWrenchContact for each link, representing all the contacts between the model and the external environment whose wrench is unkwnon.
  • class LinkVelArray Class for storing a vector of twists, one for each link in a model.
  • class LinkWrenches Vector of wrenches connected in some way to the link of a model.
  • class Material
  • class MaterialElement
    • struct MaterialInfo
  • class MatrixDynSize Class providing a simple form of matrix with dynamic size.
  • class MatrixFixSize Class providing a simple form of matrix with dynamic size.
  • class MatrixView MatrixView implements a view interface of Matrices.
  • class MeshcatVisualizer MeshcatVisualizer is an iDynTree-based wrapper to the meshcat-cpp visualizer.
  • class Model Class that represents a generic multibody model.
  • class ModelCalibrationHelper Helper class to load a model, modify its parameters based on calibration, and save it again to file.
  • class ModelExporter Helper class to export a model to the supported textual formats.
  • struct ModelExporterOptions Options for the iDynTree exporter.
  • class ModelLoader Helper class to load a model from a generic format.
  • struct ModelParserOptions Options for the iDynTree parser.
  • class ModelSolidShapes
  • class MomentumFreeFloatingJacobian Jacobian of the 6D momentum.
  • class MovableJointImpl Base template for implementation of non-fixed joints.
  • struct Neighbor
  • class OriginElement
  • class PixelViz Basic structure to encode pixel information.
  • class Polygon Class representing a 2D Polygon expressed in the 3D space.
  • class Polygon2D Class representing a 2D Polygon expressed in the 2D space.
  • class Position Class representation the coordinates of the Position of a point with respect to another point.
  • class PrismaticJoint Class representing a prismatic joint, i.e.
  • class RevoluteJoint Class representing a revolute joint, i.e.
  • class RevoluteSO2Joint Class representing a revolute joint using SO(2) representation, i.e.
  • class RigidBodyInertiaNonLinearParametrization
  • class RobotElement
  • class Rotation Class representation the rotation of an orientation frame with respect to a reference orientation frame, expressed as a Rotation matrix.
  • class RotationalInertia Class providing the coordinates for a 3d inertia matrix.
  • struct SchmittParams struct to hold schmitt trigger device parameters
  • class SchmittTrigger Schmitt Trigger class for binary state detection This device is used to obtain a binary state (ON/OFF) at some time instant depending on a value inputted to the device.
  • class Sensor Interface for Sensor classes in iDynTree .
  • class SensorElement
    • struct SensorInfo
  • class SensorHelper
  • class SensorsList Structure representing a group of sensors associated with an UndirectedTree.
    • class ConstIterator
    • class ConstTypedIterator
    • class Iterator
    • class TypedIterator
  • class SensorsMeasurements A list of measurements associated with a SensorsList .
  • class SimpleLeggedOdometry A simple legged odometry for a legged robot.
  • class SixAxisForceTorqueSensor A six axis force torque sensor class implementation of the Sensor.
  • class skinDynLibConversionsHelper Helper for conversion between iDynTree data structures and skinDynLib data structures.
  • class skinDynLibLinkID Identifier for a link and a body frame in skinDynLib.
  • class SolidShape
  • class Span
    • struct KnownNotNull
    • class storage_type
    • class subspan_selector
  • class SparseMatrix Sparse Matrix class.
    • class ConstIterator
    • class Iterator
      • class TripletRef
  • class SpatialAcc Class representing a spatial acceleration, i.e.
  • class SpatialForceVector Class providing the raw coordinates for any spatial force vector, (i.e.
  • class SpatialForceWrtMotionDerivative Class representing the derivative of a spatial force vector with respect to a spatial motion vector.
  • class SpatialInertia Class representing a six dimensional inertia.
  • class SpatialMomentum Class representing a spatial momentum, i.e.
  • class SpatialMotionForceVectorT_traits Traits class for SpatialMotionVector and SpatialForceVector classes.
  • class SpatialMotionForceVectorT_traits<SpatialForceVector>
  • class SpatialMotionForceVectorT_traits<SpatialMotionVector>
  • class SpatialMotionVector Class providing the coordinates for any motion spatial vector (i.e.
  • class SpatialMotionWrtMotionDerivative Class representing the derivative of a spatial motion vector with respect to another spatial motion vector.
  • class SpatialVector
  • class Sphere
  • class SphericalJoint Class representing a spherical joint, i.e.
  • class SubModelDecomposition Class representing the decomposition in one model in several submodels.
  • struct TestMatrixMismatch
  • class ThreeAxisAngularAccelerometerSensor Class representing a three axis angular accelerometer, i.e.
  • class ThreeAxisForceTorqueContactSensor Class representing a three axis force-torque contact sensor.
  • class Transform Class representation the relative displacement between two different frames.
  • class TransformDerivative Class representing the derivative of Transform object.
  • class Traversal Class that represents a traversal of a set of links of a Model.
  • class Triplet
  • class Triplets
  • class Twist Class representing a twist, i.e.
  • struct UnknownWrenchContact A contact whose wrench is unknown.
  • class URDFDocument
  • class VectorDynSize Class providing a simple form of vector with dynamic size.
  • class VectorFixSize Class providing a simple vector of N elements.
  • class VisualElement
    • struct VisualInfo
  • class Visualizer Class to visualize a set of iDynTree models.
  • struct VisualizerOptions Visualizer options.
  • class Wrench Class representing a wrench, i.e.
  • class XMLAttribute
  • class XMLDocument
  • class XMLElement Class representing an XML element.
  • class XMLParser XML Parser class.
  • class XMLParserState
• namespace internal
  • namespace kinematics
    • class InverseKinematicsData
    • class InverseKinematicsNLP Implementation of the inverse kinematics with IPOPT.
      • struct COMInfo
      • struct FrameInfo information about a Frame during optimization All the values are computed given the current robot configuration i.e. the one specified in the IPOPT callbacks (x)
    • class SparsityHelper Helper class to manage sparsity.
    • class TransformConstraint Class representing a constraint (full or partial) on a transform between a given frame and the absolute frame.
• namespace Ipopt
• namespace std STL namespace.
• namespace yarp::math
• struct state of the estimator