Experimental classes, for which the interface is currently under active development and is not stable. module

Classes

struct iDynTree::BerdyOptions

Options of the BerdyHelper class.

struct iDynTree::BerdySensor

Structure which describes the essential information about a sensor used in berdy A sensor is identified by the pair (type, id)

class iDynTree::BerdyHelper

Helper class for computing Berdy matrices.

class iDynTree::BerdySparseMAPSolver

class iDynTree::optimalcontrol::Constraint

The Constraint virtual class definition.

class iDynTree::optimalcontrol::ConstraintsGroup

Class grouping constraints associated with a TimeRange.

class iDynTree::optimalcontrol::ControlledDynamicalSystem

The ControlledDynamicalSystem class allows to easily connect a DynamicalSystem with a Controller.

class iDynTree::optimalcontrol::Controller

Class describing a generic controller.

class iDynTree::optimalcontrol::Cost

The Cost virtual class definition.

class iDynTree::optimalcontrol::DynamicalSystem

DynamicalSystem base class.

class iDynTree::optimalcontrol::integrators::SolutionElement

Output of the integrator at a specific time.

class iDynTree::optimalcontrol::integrators::IntegratorInfo

Class containing infos about the implemented integrator.

class iDynTree::optimalcontrol::integrators::Integrator

The Integrator base class.

class iDynTree::optimalcontrol::integrators::FixedStepIntegrator

class iDynTree::optimalcontrol::integrators::ForwardEuler

class iDynTree::optimalcontrol::integrators::ImplicitTrapezoidal

class iDynTree::optimalcontrol::integrators::RK4

class iDynTree::optimalcontrol::L2NormCost

class iDynTree::optimalcontrol::LinearConstraint

class iDynTree::optimalcontrol::LinearCost

class iDynTree::optimalcontrol::LinearMPC

class iDynTree::optimalcontrol::LinearSystem

class iDynTree::optimalcontrol::MPC

class iDynTree::optimalcontrol::MultiBodySystem

class iDynTree::optimalcontrol::MultipleShootingSolver

class iDynTree::optimalcontrol::OptimalControlProblem

class iDynTree::optimalcontrol::OptimalControlSolver

class iDynTree::optimization::OptimizationProblemInfoData

class iDynTree::optimization::Optimizer

class iDynTree::optimization::AlglibInterface

class iDynTree::optimization::IpoptInterface

struct iDynTree::optimization::OsqpSettings

class iDynTree::optimization::WorhpInterface

class iDynTree::optimalcontrol::QuadraticCost

class iDynTree::optimalcontrol::QuadraticLikeCost

class iDynTree::optimalcontrol::SystemLineariser

class iDynTree::optimalcontrol::TimeRange

template<typename Object>

class iDynTree::optimalcontrol::TimeVaryingObject

template<typename Object>

class iDynTree::optimalcontrol::TimeInvariantObject

class iDynTree::InverseKinematics

NLP-based Inverse kinematics.

Enums

enum BerdyVariants { ORIGINAL_BERDY_FIXED_BASE = 0, BERDY_FLOATING_BASE = 1, BERDY_FLOATING_BASE_NON_COLLOCATED_EXT_WRENCHES = 2 }

Enumeration of the Berdy variants implemented in this class.

enum BerdyDynamicVariablesTypes { LINK_BODY_PROPER_ACCELERATION, NET_INT_AND_EXT_WRENCHES_ON_LINK_WITHOUT_GRAV, JOINT_WRENCH, DOF_TORQUE, NET_EXT_WRENCH, DOF_ACCELERATION, LINK_BODY_PROPER_CLASSICAL_ACCELERATION }

Enumeration describing the dynamic variables types (link acceleration, net wrenches, joint wrenches, joint torques, joint acceleration) used in Berdy.

enum BerdySensorTypes { SIX_AXIS_FORCE_TORQUE_SENSOR = SIX_AXIS_FORCE_TORQUE, ACCELEROMETER_SENSOR = ACCELEROMETER, GYROSCOPE_SENSOR = GYROSCOPE, THREE_AXIS_ANGULAR_ACCELEROMETER_SENSOR = THREE_AXIS_ANGULAR_ACCELEROMETER, THREE_AXIS_FORCE_TORQUE_CONTACT_SENSOR = THREE_AXIS_FORCE_TORQUE_CONTACT, DOF_ACCELERATION_SENSOR = 1000, DOF_TORQUE_SENSOR = 1001, NET_EXT_WRENCH_SENSOR = 1002, JOINT_WRENCH_SENSOR = 1003, RCM_SENSOR = 1004 }

Enumeration describing the possible sensor types implemented in Berdy.

Enum documentation