Drake
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123456]
 NdrakeNOTE: The contents of this class are for the most part direct ports of drake/systems/plants//inverseKinBackend.m from Matlab to C++; many methods and variables follow Matlab conventions and are documented in that file
 NDrakeShapes
 Nlcm
 NMotionGenesis
 NstdSTL namespace
 CAllBodiesClosestDistanceConstraint
 CAttachment
 CBodyMotionData
 CBodyMotionParams
 CBounds
 CbtOverlapFilterCallback
 CConstraintMatrixSingularError
 CContinuityConstraint
 CDesiredBodyAcceleration
 CDHomogTrans
 CDrakeJointA joint defines a spatial relationship between two rigid bodies
 CDrakeRobotState
 CEulerConstraint
 CExponentialPlusPiecewisePolynomialY(t) = K * exp(A * (t - t_j)) * alpha.col(j) + piecewise_polynomial_part(t)
 CFixedAxisOneDoFJoint
 CFixedJoint
 CForceTorqueMeasurement
 CGazeConstraint
 CGazeDirConstraint
 CGazeOrientConstraint
 CGazeTargetConstraint
 CGravityCompensationTorqueConstraint
 CHardwareGains
 CHardwareParams
 CHelicalJoint
 CIKoptions
 CIKResultsReturn type for simplified versions of IK functions
 CInstantaneousQPController
 CIntegratorParams
 CJointNames
 CJointSoftLimitParams
 CKinematicModifications
 CKinematicPath
 CKinematicsCache
 CKinematicsCacheElement
 CKneeSettings
 CMexWrapper
 CMinDistanceConstraint
 CMultipleTimeKinematicConstraint
 CMultipleTimeLinearPostureConstraint
 CPIDOutput
 CPiecewiseFunction
 CPiecewisePolynomialA scalar multi-variate piecewise polynomial
 CPiecewisePolynomialBase
 CPoint
 CPoint2LineSegDistConstraint
 CPoint2PointDistanceConstraint
 CPolynomialA scalar multi-variate polynomial, modeled after the msspoly in spotless
 CPositionConstraint
 CPositionIndices
 CPostureChangeConstraint
 CPostureConstraint
 CPrismaticJointA prismatic joint moves linearly along one axis
 CQPControllerDebugData
 CQPControllerOutput
 CQPControllerParams
 CQPControllerState
 CQPLocomotionPlan
 CQPLocomotionPlanSettings
 CQuadraticLyapunovFunction
 CQuasiStaticConstraintCenter of Mass (CoM) is within the support polygon
 CQuatConstraint
 CQuaternionBallJointDefines a 3 dof tree joint (mobilizer) that uses a unit quaternion as the generalized orientation coordinates
 CQuaternionFloatingJointDefines a 6 dof tree joint (mobilizer) that uses a unit quaternion as the generalized orientation coordinates
 CRelativeGazeDirConstraint
 CRelativeGazeTargetConstraint
 CRelativePositionConstraint
 CRelativeQuatConstraint
 CRevoluteJoint
 CRigidBody
 CRigidBodyActuatorDefines a physical actuator (i.e., an electric motor and step-down transmission) that operates on a joint
 CRigidBodyConstraintBase class
 CRigidBodyFrameMultibody systems typically have distinguished frames of interest that need to be monitored
 CRigidBodyLoopDefines a "loop joint" that models a kinematic loop formed by a chain of rigid bodies and their regular joints
 CRigidBodySupportStateElement
 CRigidBodyTreeMaintains a vector of RigidBody objects that are arranged into a kinematic tree via DrakeJoint objects
 CRigidBodyTreeConstantsDefines RigidBodyTree constants
 CRobotJointIndexMap
 CRobotPropertyCache
 CRollPitchYawFloatingJoint
 CSide
 CSingleTimeKinematicConstraint
 CSingleTimeLinearPostureConstraint
 CSplineInformation
 CSupportStateElement
 CTransformSpatial
 CTrigPolyA scalar multi-variate polynomial containing sines and cosines
 CTVLQRData
 CValueConstraint
 CVRefIntegratorParams
 CWholeBodyParams
 CWorldCoMConstraint
 CWorldEulerConstraint
 CWorldFixedBodyPoseConstraint
 CWorldFixedOrientConstraint
 CWorldFixedPositionConstraint
 CWorldGazeDirConstraint
 CWorldGazeOrientConstraint
 CWorldGazeTargetConstraint
 CWorldPositionConstraint
 CWorldPositionInFrameConstraint
 CWorldQuatConstraint