Drake
Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 12345678]
 ►CAbstractValue A fully type-erased container class CAbstractValues AbstractValues is a container for non-numerical state and parameters CAccelerationKinematicsCache< T > This class is one of the cache entries in MultibodyTreeContext CAccelerometerOutputConstants CAcrobot< T > The Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics CAcrobot< double > CAcrobotParameters This class is used to store the numerical parameters defining the model of an acrobot with the method MakeAcrobotPlant() ►CAction Base class for actions used by the pick and place demo CAddRotationMatrixBoxSphereIntersectionReturn Some of the newly added variables in function AddRotationMatrixBoxSphereIntersectionMilpConstraints CAntiderivativeFunction< T > A thin wrapper of the ScalarInitialValueProblem class that, in concert with Drake's ODE initial value problem solvers ("integrators"), provide the ability to perform quadrature on an arbitrary scalar integrable function CAntiderivativeFunction< double > CArcLengthParameterizedSpline An extension for ignition::math::Splines that reparameterizes them by path length CArcOffset Specification for path offset along a circular arc CArcOffset Specification for path offset along a circular arc CArticulatedBodyInertia< T > Articulated Body Inertia is the inertia that a body appears to have when it is the base (or root) of a rigid-body system, also referred to as Articulated Body in the context of articulated body algorithms CArticulatedBodyInertiaCache< T > This class is one of the cache entries in MultibodyTreeContext Cassert_default_constructible< T > Cassert_if_is_constraint< F > Template condition to only catch when Constraints are inadvertently passed as an argument CAssertionResultCollector AssertionResultCollector helps with the creation of concise and well-traced testing subroutines when using googletest CAttachment CAutoDiffToGradientMatrix< Derived > CAutoDiffToValueMatrix< Derived > CAutomotiveSimulator< T > AutomotiveSimulator is a helper class for constructing and running automotive-related simulations CBarycentricMesh< T > Represents a multi-linear function (from vector inputs to vector outputs) by interpolating between points on a mesh using (triangular) barycentric interpolation CBinding< C > A binding on constraint type C is a mapping of the decision variables onto the inputs of C CBinding< drake::solvers::BoundingBoxConstraint > CBinding< drake::solvers::Constraint > CBinding< drake::solvers::Cost > CBinding< drake::solvers::LinearComplementarityConstraint > CBinding< drake::solvers::LinearConstraint > CBinding< drake::solvers::LinearCost > CBinding< drake::solvers::LinearEqualityConstraint > CBinding< drake::solvers::LinearMatrixInequalityConstraint > CBinding< drake::solvers::LorentzConeConstraint > CBinding< drake::solvers::PositiveSemidefiniteConstraint > CBinding< drake::solvers::QuadraticCost > CBinding< drake::solvers::RotatedLorentzConeConstraint > CBinding< drake::solvers::VisualizationCallback > CJoint< T >::BluePrint (Advanced) Structure containing all the information needed to build the MultibodyTree implementation for a Joint CBodyAcceleration This class holds spatial acceleration for a rigid body CBodyMotionData CBodyMotionParams CBodyNodeTopology Data structure to store the topological information associated with a tree node CBodyOfInterest An object that holds important kinematic properties CBodyTopology Data structure to store the topological information associated with a Body CBool< T > Class representing a boolean value independent of the underlying scalar type T: CBool< AutoDiffXd > CBool< double > CBool< Expression > CBounds ►CBranchPoint A BranchPoint is a node in the network of a RoadGeometry at which Lanes connect to one another ►CbtOverlapFilterCallback CBuilder A class to ease the construction of a RoadGeometry from Connection and DirectedWaypoint objects CBuilder Convenient builder class which makes it easy to construct a monolane road network ►CBuilderBase Defines a builder interface for multilane ►CBuilderFactoryBase Factory interface to construct BuilderBase instances CBulletCollisionWorldWrapper CCache Stores all the CacheEntryValue objects owned by a particular Context, organized to allow fast access using a CacheIndex as an index CCacheEntry A CacheEntry belongs to a System and represents the properties of one of that System's cached computations CCacheEntryValue This is the representation in the Context for the value of one of a System's CacheEntry objects CCameraInfo Simple data structure for camera information that includes the image size and camera intrinsic parameters CCartesianSetpoint< Scalar > This is used to compute target spatial acceleration, which is the input to the inverse dynamics controller ►CCarVis< T > CarVis is a base class that provides visualization geometries and their poses CClosestPose< T > ClosestPose bundles together the RoadOdometry of a particular target along with its distance measure relative to the ego vehicle CCollisionFilterGroup< T > The specification of a collision filter group: its name, bodies that belong to it, and the names of collision filter groups that it ignores CCollisionFilterGroupManager< T > This class provides management utilities for the definition of collision filter groups for RigidBodyTree instances CCollisionFilterGroupManager< double > CColor< T > Holds r, g, b values to represent a color pixel CColorPalette Creates and holds a palette of colors for visualizing different objects in a scene (the intent is for a different color to be applied to each identified object) CCompliantContactModel< T > This class encapsulates the compliant contact model force computations as described in detail in Compliant Contact in Drake CCompliantContactModel< double > CCompliantContactModelParameters The set of parameters for the compliant contact model CCompliantMaterial The set of per-object compliant material parameters with one material applied to each collision object ►CCompositeEventCollection< T > This class bundles an instance of each EventCollection into one object that stores the heterogeneous collection ►CCompositeEventCollection< double > CConditionTraits< Bool< T > > Provides the specialization of ConditionTraits for Bool so that a value of Bool can be passed to DRAKE_ASSERT/DRAKE_DEMAND macros CConditionTraits< symbolic::Formula > CConnection A container that holds the information needed by a Builder to construct one or more Lane objects CConnection Representation of a reference path connecting two endpoints CConnection Representation of a reference path connecting two endpoints CPidControlledSystem< T >::ConnectResult The return type of ConnectController ►CConstrainedValues Base class for specifying various desired objectives CConstraintAccelProblemData< T > Structure for holding constraint data for computing forces due to constraints and the resulting multibody accelerations CConstraintRelaxingIk A wrapper class around the IK planner CConstraintSolver< T > Solves constraint problems for constraint forces CConstraintSolver< double > CConstraintVelProblemData< T > Structure for holding constraint data for computing constraint forces at the velocity-level (i.e., impact problems) ►CContactDetail< T > The base class for defining a contact detail CContactForce< T > The data for a single contact force applied to one body of a contacting pair CContactInfo< T > A class containing information regarding contact response between two bodies including: CContactInformation This class describes contact related information for each body in contact with other bodies in the world CContactParam A struct for holding contact-related parameters such as local offsets of the contact points, friction coefficient, etc CContactResultantForceCalculator< T > This is a utility class for replacing a set of force/torques by an equivalent force/torque (defined by the ContactForce class) CContactResults< T > A class containing the contact results (contact points and response spatial forces for each colliding pair of collision elements) as well as the sum of all JᵀF for all contact, where J is the contact point Jacobian, and F is the contact force ►CContextMessageInterface ►CContinuousState< T > ContinuousState is a view of, and optionally a container for, all the continuous state variables xc of a Drake System CContinuousState< AutoDiffXd > CContinuousState< double > CContinuousState< symbolic::Expression > CCoulombFriction< T > Parameters for Coulomb's Law of Friction, namely: CCoulombFriction< double > CCubicPolynomial A cubic polynomial, f(p) = a + b*p + c*p^2 + d*p^3 CCubicPolynomial A cubic polynomial, f(p) = a + b*p + c*p^2 + d*p^3 CCurve2< T > Curve2 represents a path through two-dimensional Cartesian space CKinematicsCache< T >::DataInCalcFrameSpatialVelocityJacobianInWorldFrame Preallocated variables used in CalcFrameSpatialVelocityJacobianInWorldFrame CKinematicsCache< T >::DataInGeometricJacobian Preallocated scratch pad variables CDataTypeTraits< DataType, false > CDelegatingHasher An adapter that forwards the HashAlgorithm::operator(data, length) function concept into a runtime-provided std::function of the same signature CDependencyGraph Represents the portion of the complete dependency graph that is a subgraph centered on the owning subcontext, plus some edges leading to other subcontexts CDependencyTracker Manages value interdependencies for a particular value or set of values in a Context CDepthSensorSpecification Holds a DepthSensor's specification CDescriptorType Describes an descriptor field with a name and the descriptor's size CDesiredBodyAcceleration CDesiredMotionParam Struct for storing parameters for generating a desired acceleration objective $$\dot{v}_d$$ for the QP inverse dynamics controller CDHomogTrans< DerivedQdotToV > CDiagramBuilder< T > DiagramBuilder is a factory class for Diagram CDiagramBuilder< double > CDifferentialInverseKinematicsParameters Contains parameters for differential inverse kinematics CDifferentialInverseKinematicsResult CDirectedWaypoint A container that holds the information needed by a Builder to construct a Lane from a sequence of ignition::rndf::Waypoint objects CDirectionChangeLimiter< T > This struct implements an internal (thus within internal::) detail of the implicit Stribeck solver ►CDiscreteValues< T > DiscreteValues is a container for numerical but non-continuous state and parameters CDiscreteValues< AutoDiffXd > CDiscreteValues< double > CDiscreteValues< symbolic::Expression > CDrakeJoint A joint defines a spatial relationship between two rigid bodies ►CDrakeJointImpl CDrakeKukaIIwaRobot< T > This class is a MultibodyTree model for a 7-DOF Kuka iiwa robot arm ►CDrakeLcmInterface A pure virtual interface that enables LCM to be mocked CDrakeRobotState Cdummy_value< T > Provides a "dummy" value for a ScalarType – a value that is unlikely to be mistaken for a purposefully-computed value, useful for initializing a value before the true result is available Cdummy_value< Eigen::AutoDiffScalar< DerType > > Specializes common/dummy_value.h Cdummy_value< int > Cdummy_value< symbolic::Expression > Specializes common/dummy_value.h CDynamicProgrammingOptions Consolidates the many possible options to be passed to the dynamic programming algorithms CEigenPtr< PlainObjectType > This wrapper class provides a way to write non-template functions taking raw pointers to Eigen objects as parameters while limiting the number of copies, similar to Eigen::Ref CEigenPtr< const MatrixX< T > > CEigenPtr< const VectorX< T > > CEigenSizeMinPreferDynamic< a, b > EigenSizeMinPreferDynamic::value gives the min between compile-time sizes a and b CEigenSizeMinPreferFixed< a, b > EigenSizeMinPreferFixed is a variant of EigenSizeMinPreferDynamic ►CElement CEndpoint Complete set of parameters for an endpoint of a connection, specified in the world frame CEndpoint Complete set of parameters for an endpoint of a connection, specified in the world frame CEndpointXy XY-plane-only parameters for an endpoint of a connection, specified in the world frame CEndpointXy XY-plane-only parameters for an endpoint of a connection, specified in the world frame CEndpointZ Out-of-plane parameters for an endpoint of a connection, specified in the world frame CEndpointZ Out-of-plane parameters for an endpoint of a connection, specified in the world frame CEndReference Provides methods to build an EndReference::Spec CEnvironment Represents a symbolic environment (mapping from a variable to a value) Cequal_to< drake::symbolic::Expression > Cequal_to< drake::symbolic::Formula > Cequal_to< drake::symbolic::Variable > ►CEvaluatorBase Provides an abstract interface to represent an expression, mapping a fixed or dynamic number of inputs to a fixed number of outputs, that may be evaluated on a scalar type of double or AutoDiffXd ►CEvent< T > Abstract base class that represents an event CEvent< double > ►CEventCollection< EventType > There are three concrete event types for any System: publish, discrete state update, and unrestricted state update, listed in order of increasing ability to change the state (i.e., zero to all) CEventCollection< drake::systems::DiscreteUpdateEvent< AutoDiffXd > > CEventCollection< drake::systems::DiscreteUpdateEvent< double > > CEventCollection< drake::systems::DiscreteUpdateEvent< T > > CEventCollection< drake::systems::PublishEvent< AutoDiffXd > > CEventCollection< drake::systems::PublishEvent< double > > CEventCollection< drake::systems::PublishEvent< T > > CEventCollection< drake::systems::UnrestrictedUpdateEvent< AutoDiffXd > > CEventCollection< drake::systems::UnrestrictedUpdateEvent< double > > CEventCollection< drake::systems::UnrestrictedUpdateEvent< T > > ►CEventData Base class for storing trigger-specific data to be passed to event handlers ►Cexception STL class CExpression Represents a symbolic form of an expression CExpressionAddFactory Factory class to help build ExpressionAdd expressions ►CExpressionCell Represents an abstract class which is the base of concrete symbolic-expression classes CExpressionMulFactory Factory class to help build ExpressionMul expressions CFields Allows combination of BaseField and DescriptorType for a PointCloud CFindResourceResult Models the outcome of drake::FindResource CFixedInputPortValue A FixedInputPortValue encapsulates a vector or abstract value for use as an internal value source for one of a System's input ports CFloatingJointConstants Defines constants used by AddFloatingJoint() CFNV1aHasher The FNV1a hash algorithm, used for hash_append generic hashing CForceElementTopology Data structure to store the topological information associated with a ForceElement CForceTorqueMeasurement CFormula Represents a symbolic form of a first-order logic formula ►CFormulaCell Represents an abstract class which is the base of concrete symbolic-formula classes (i.e CFrameCache< T > Keeps a set of frames and the transforms that relate them, using a root or fixed frame to conjoin them all CFrameCache< double > CFramedIsometry3< T > An isometric transform along with the frame in which it is defined CFramedIsometry3< double > CFrameKinematicsVector< KinematicsValue > A FrameKinematicsVector is used to report kinematics data for registered frames (identified by unique FrameId values) to SceneGraph CFrameTopology Data structure to store the topological information associated with a Frame CFreeBody The purpose of the FreeBody class is to provide the data (initial values and gravity) and methods for calculating the exact analytical solution for the translational and rotational motion of a toque-free rigid body B with axially symmetric inertia, in a Newtonian frame (World) N CFromDoubleTraits A concrete traits class providing sugar to support for converting only from the double scalar type Cfunction_info< Func, Return, Args > CFunctionTraits< F > FunctionTraits CFunctionTraits< std::reference_wrapper< F > > CFunctionTraits< std::shared_ptr< F > > CFunctionTraits< std::unique_ptr< F > > Cfunctor_helpers ►CGenericPlan< T > This class represents a plan interpretor, which conceptually serves as a bridge between a high level planner (e.g CGenericPlan< double > CGenericTrivialCost2 ►CGeometry CGeometryFrame This simple class carries the definition of a frame used in the SceneGraph CGeometryInstance A geometry instance combines a geometry definition (i.e., a shape of some sort), a pose (relative to a parent "frame" P), material information, and an opaque collection of metadata CGeometrySet The GeometrySet, as its name implies, is a convenience class for defining a set of geometries CGeometryState< T > The context-dependent state of SceneGraph CGeoPositionT< T > A position in 3-dimensional geographical Cartesian space, i.e., in the world frame, consisting of three components x, y, and z CGetSubMatrixGradientArray< QSubvectorSize, Derived, NRows, NCols > CGetSubMatrixGradientSingleElement< QSubvectorSize, Derived > CGloptiPolyConstrainedMinimizationProblem GloptiPolyConstrainedMinimization CGradedReverseLexOrder< VariableOrder > Implements Graded reverse lexicographic order CGradient< Derived, Nq, DerivativeOrder > CGradient< Derived, Nq, 1 > CGrayCodesMatrix< NumDigits > GrayCodesMatrix::type returns an Eigen matrix of integers CGrayCodesMatrix< Eigen::Dynamic > CGroup A group of Connections CGroup A group of Connections CGyroscopeOutputConstants Defines the semantics of each index in GyroscopeOutput's vector CHardwareGains CHardwareParams Chash< drake::geometry::Identifier< Tag > > Enables use of the identifier to serve as a key in STL containers Chash< drake::TypeSafeIndex< Tag > > Specialization of std::hash for drake::TypeSafeIndex CHBounds Bounds in the elevation dimension (h component) of a Lane-frame, consisting of a pair of minimum and maximum h value CIdentifier< Tag > A simple identifier class CIdentifier< class FrameTag > CIdentifier< class GeometryTag > CIdentifier< class SourceTag > ►CRoadGeometry::IdIndex Abstract interface for a collection of methods which allow accessing objects in a RoadGeometry's object graph (Lanes, Segments, Junctions, BranchPoints) by their unique id's CIdmPlanner< T > IdmPlanner implements the IDM (Intelligent Driver Model) equation governing longitudinal accelerations of a vehicle in single-lane traffic [1, 2] CConstraintRelaxingIk::IkCartesianWaypoint Cartesian waypoint CIKoptions CIKResults Return type for simplified versions of IK functions CIKTrajectoryHelper This class is a helper for backend implementations of inverse kinematics trajectory planning CImage< kPixelType > Simple data format for Image CImage< PixelType::kDepth32F > CImage< PixelType::kLabel16I > CImage< PixelType::kRgba8U > CImageTraits< PixelType > Traits class for Image CImageTraits< PixelType::kBgr8U > CImageTraits< PixelType::kBgra8U > CImageTraits< PixelType::kDepth16U > CImageTraits< PixelType::kDepth32F > CImageTraits< PixelType::kExpr > CImageTraits< PixelType::kGrey8U > CImageTraits< PixelType::kLabel16I > CImageTraits< PixelType::kRgb8U > CImageTraits< PixelType::kRgba8U > CImplicitStribeckSolver< T > ImplicitStribeckSolver solves the equations below for mechanical systems with contact using a modified Stribeck model of friction: CInitializeAutoDiffTupleHelper< Index > Helper for initializeAutoDiffTuple function (recursive) CInitializeAutoDiffTupleHelper< 0 > Helper for initializeAutoDiffTuple function (base case) CInitialValueProblem< T > A general initial value problem (or IVP) representation class, that allows evaluating the 𝐱(t; 𝐤) solution function to the given ODE d𝐱/dt = f(t, 𝐱; 𝐤), where f : t ⨯ 𝐱 → ℝⁿ, t ∈ ℝ, 𝐱 ∈ ℝⁿ, 𝐤 ∈ ℝᵐ, provided an initial condition 𝐱(t₀; 𝐤) = 𝐱₀ CInitialValueProblem< double > ►CInputPortBase An InputPort is a System resource that describes the kind of input a System accepts, on a given port CInstantaneousQPController ►Cintegral_constant ►CIntegratorBase< T > An abstract class for an integrator for ODEs and DAEs as represented by a Drake System CIntegratorBase< double > CIntegratorParams CInternalFrame This class represents the internal representation of a GeometryFrame ►CInternalGeometryBase Base class for the internal representation of registered geometry CInvalidDepth Set of constants used to represent invalid depth values CInverseFunctionInterpolator A linear interpolator for arbitrary inverse functions ►Cis_base_of ►Cis_convertible Cis_numeric< T > Is_numeric is true for types that are on the real line Cis_numeric< symbolic::Expression > Specializes is_numeric to be false for symbolic::Expression type CIsoLaneVelocity Isometric velocity vector in a Lane-frame CIterationStats Struct used to store information about the iteration process performed by ImplicitStribeckSolver CJointActuatorTopology Data structure to store the topological information associated with a JointActuator CJoint< T >::JointImplementation (Advanced) A Joint is implemented in terms of MultibodyTree elements such as bodies, mobilizers, force elements and constraints CJointNames CJointSoftLimitParams ►CJunction A Junction is a closed set of Segments which have physically coplanar road surfaces, in the sense that RoadPositions with the same h value (height above surface) in the domains of two Segments map to the same GeoPosition CKinematicModifications CKinematicPath CKinematicsCache< T > CKinematicsCache< double > CKinematicsCache< Scalar > CKinematicsCacheElement< T > CKinematicsCacheElement< double > CKinematicsCacheElement< Scalar > CKinematicsCacheHelper< Scalar > Helper class to avoid recalculating a kinematics cache which is going to be used repeatedly by multiple other classes CKinematicsCacheHelper< double > CKinematicsCacheWithVHelper< Scalar > Stores and updates the kinematics cache for the rigid body tree CKinematicsResults< T > A class containing the kinematics results from a RigidBodyPlant system CKneeSettings CKukaIiwaModelBuilder< T > CKukaRobotJointReactionForces< T > Utility struct to assist with returning joint torques/forces CLabel Set of labels used for label image ►CLane A Lane represents a lane of travel in a road network CLaneDirection LaneDirection holds the lane that a MaliputRailcar is traversing and the direction in which it is moving CLaneEnd A specific endpoint of a specific Lane ►CLaneEndSet A set of LaneEnds CLaneLayout Wraps all the lane-related specifications in a Connection CLanePositionT< T > A 3-dimensional position in a Lane-frame, consisting of three components: CLanePositionT< double > CLaneSRange Directed longitudinal range of a specific Lane, identified by a LaneId CLaneSRoute A longitudinal route, possibly spanning multiple (end-to-end) lanes ►CLcmAndVectorBaseTranslator Defines an abstract parent class of all translators that convert between LCM message bytes and drake::systems::VectorBase objects CLcmDrivenLoop This class implements a loop that's driven by a Lcm message ►CLcmMessageToTimeInterface A generic translator interface that extracts time in seconds from an abstract type CLcmReceiveThread Maintains a thread that receives LCM messages and dispatches the messages to the appropriate message handlers CLcmTranslatorDictionary A dictionary that maps between LCM channel names and translators that convert between LCM message objects and VectorBase objects Cless< drake::maliput::api::TypeSpecificIdentifier< T > > Specialization of std::less for TypeSpecificIdentifier providing a strict weak ordering over TypeSpecificIdentifier suitable for use with ordered containers Cless< drake::solvers::SolverId > Cless< drake::symbolic::Expression > Cless< drake::symbolic::Formula > Cless< drake::symbolic::Variable > CLinearMatrixEqualityExample For a stable linear system ẋ = A x, find its Lyapunov function by solving the Lyapunov equality on the symmetric matrix X Aᵀ * X + X * A = -E CLinearQuadraticRegulatorResult ►CLinearSystemExample1 Simple example x = b CLineOffset Specification for path offset along a line CLogarithmicSos2NewBinaryVariables< NumLambda > The size of the new binary variables in the compile time, for Special Ordered Set of type 2 (SOS2) constraint CLogarithmicSos2NewBinaryVariables< Eigen::Dynamic > Clogger A stubbed-out version of spdlog::logger CLowerBoundedProblem This test comes from Section 3.4 of Handbook of Test Problems in Local and Global Optimization CMassDamperSpringAnalyticalSolution< T > This class provides an analytical solution to a mass-damper-spring system ►CMatcherInterface CMatGradMult< DerivedDA, DerivedB > CMatGradMultMat< DerivedA, DerivedB, DerivedDA > ►CMathematicalProgram MathematicalProgram stores the decision variables, the constraints and costs of an optimization problem ►CMathematicalProgramSolverInterface Interface used by implementations of individual solvers CMatlabRemoteVariable Holds a reference to a variable stored on the matlab client, which can be passed back into a future lcm_call_matlab call CMatrixData ►CMGIntegrator CMGKukaIIwaRobot< T > This class is Drake's interface to the MotionGenesis solution for a 7-DOF KUKA LBR iiwa robot (14 kg payload) which is described at: https://www.kuka.com/en-de/products/robot-systems/industrial-robots/lbr-iiwa Geometry, joint-types, and mass/inertia properties are contained in: drake/multibody/benchmarks/kuka_iiwa_robot/kuka_iiwa_robot.urdf CMGKukaIIwaRobotAutoGenerated CMinDistanceFromPlaneToOrigin An SOCP with Lorentz cone and rotated Lorentz cone constraints CMirrorDef< A, B > Defines a function in object a and mirrors def calls to object b CMixedIntegerBranchAndBound Given a mixed-integer optimization problem (MIP) (or more accurately, mixed binary problem), solve this problem through branch-and-bound process CMixedIntegerBranchAndBoundNode A node in the branch-and-bound (bnb) tree CMixedIntegerRotationConstraintGenerator We relax the non-convex SO(3) constraint on rotation matrix R to mixed-integer linear constraints CConstraintSolver< T >::MlcpToLcpData Structure used to convert a mixed linear complementarity problem to a pure linear complementarity problem (by solving for free variables) CMobilizerTopology Data structure to store the topological information associated with a Mobilizer object CMobyLcpSolverId Non-template class for MobyLcpSolver constants ►CModel Model is an abstract base class of a collision model CModelInstanceInfo< T > CModelValues Represents models for a sequence of AbstractValues (usually a sequence of either input or output ports) CMonolaneOnrampMerge MonolaneOnrampMerge contains an example lane-merge scenario expressed as a maliput monolane road geometry CMonomial Represents a monomial, a product of powers of variables with non-negative integer exponents CPolynomial< _CoefficientType >::Monomial An additive atom of a Polynomial: The product of any number of Terms and a coefficient CMovingAverageFilter< T > The implementation of a Moving Average Filter CMultibodyForces< T > A class to hold a set of forces applied to a MultibodyTree system CMultibodyTree< T > MultibodyTree provides a representation for a physical system consisting of a collection of interconnected rigid and deformable bodies ►CMultibodyTreeElement CMultibodyTreeElement< ElementType< T >, ElementIndexType > A class representing an element or component of a MultibodyTree CMultibodyTreeTopology Data structure to store the topological information associated with an entire MultibodyTree CMultiplyEigenSizes< a, b > MultiplyEigenSizes gives a * b if both of a and b are fixed sizes Cnever_destroyed< T > Wraps an underlying type T such that its storage is a direct member field of this object (i.e., without any indirection into the heap), but unlike most member fields T's destructor is never invoked CNewVariableNames<... > CNewVariableNames< Eigen::Dynamic > ►CNewVariableNames< MultiplyEigenSizes< Rows, Cols >::value > ►CNewVariableNames< Rows==Eigen::Dynamic?Eigen::Dynamic:Rows *(Rows+1)/2 > CNewVariableNames< Size > The type of the names for the newly added variables CRightOfWayStateProvider::Result::Next Information about a subsequent State CNiceTypeName Obtains canonicalized, platform-independent, human-readable names for arbitrarily-complicated C++ types CNonConvexQPproblem1 This test comes from Section 2.2 of Handbook of Test Problems in Local and Global Optimization CNonConvexQPproblem2 This test comes from Section 2.3 of Handbook of Test Problems in Local and Global Optimization ►CNonSymbolicTraits A concrete traits class providing sugar to disable support for symbolic evaluation (i.e., the symbolic::Expression scalar type) CObjFeatures Multitude of parameters for generating an OBJ model of a road surface, with sensible defaults ►COptimizationProgram CGlobalInverseKinematics::Options COptitrackConfiguration Optitrack information required for a pick-and-place scenario with multiple arms, tables, and manipulable objects COptitrackInfo Information required to track a model from an Optitrack frame ►COutputPortBase OutputPortBase handles the scalar type-independent aspects of an OutputPort COutputPortValue OutputPortValue contains the value of a single System output port Coverload_cast_impl< Return, Args > CPackageMap Maps ROS package names to their full path on the local file system CParameters< T > Parameters is a container for variables that parameterize a System so that it can represent a family of related models CParameters These are the parameters controlling the iteration process of the ImplicitStribeckSolver solver CParameters< AutoDiffXd > CParameters< double > CParameters< symbolic::Expression > CParamSet A class for parsing and storing parameters that are used to generate QpInput for the inverse dynamics controller CPendulumParameters This class is used to store the numerical parameters defining the model of a simple pendulum with the method MakePendulumPlant() CPenetrationAsPointPair< T > A characterization of the intersection of two penetrating geometries CDynamicProgrammingOptions::PeriodicBoundaryCondition For algorithms that rely on approximations of the state-dynamics (as in FittedValueIteration), this is a list of state dimensions for which the state space maximum value should be "wrapped around" to ensure that all values are in the range [low, high) CPeriodicEventDataComparator Structure for comparing two PeriodicEventData objects for use in a map container, using an arbitrary comparison method CPickAndPlaceStateMachine A class which controls the pick and place actions for moving a single target in the environment CPIDOutput CPiecewiseCartesianTrajectory< T > A wrapper class that represents a Cartesian trajectory, whose position part is a PiecewiseCubicTrajectory, and the rotation part is a PiecewiseQuaternionSlerp CPiecewiseCartesianTrajectory< double > CPiecewiseCubicTrajectory< T > A wrapper class that stores a PiecewisePolynomial and its first and second derivatives CPiecewiseCubicTrajectory< double > CPlannerConfiguration Information required to set up a planner for a pick-and-place task CPoint CPointCloud Implements a point cloud (with contiguous storage), whose main goal is to offer a convenient, synchronized interface to commonly used fields and data types applicable for basic 3D perception CPointPair< T > Structure containing the results of a collision query CPolynomial Represents symbolic polynomials CPolynomial< _CoefficientType > A scalar multi-variate polynomial, modeled after the msspoly in spotless CPolynomial< CoefficientType > CPoseBundle< T > PoseBundle is a container for a set of poses, represented by an Isometry3, and corresponding velocities, represented by a FrameVelocity CPoseSelector< T > PoseSelector is a class that provides the relevant pose or poses with respect to a given ego vehicle driving within a given maliput road geometry CPoseVelocity Wraps the raw data contained in a trajectory expressed in terms of pose and velocity values CPoseVelocityInputPortDescriptors< T > A container with references to the input port descriptor for the pose input, and a reference to an input port descriptor for the velocity input CPositionIndices CPositionKinematicsCache< T > This class is one of the cache entries in MultibodyTreeContext CCurve2< T >::PositionResult A result type for the GetPosition method CTrigPoly< _CoefficientType >::Product< Rhs, Lhs > CPolynomial< _CoefficientType >::Product< Rhs, Lhs > CProximityEngine< T > The underlying engine for performing geometric proximity queries CPurePursuit< T > PurePursuit computes the required steering angle to achieve a goal point on an continuous planar path CPythonApi< Derived > ►CPythonApi< PythonAccessor< Policy > > ►CPythonApi< PythonRemoteVariable > CPythonAttrPolicy CPythonItemPolicy CQPControllerDebugData CQPControllerOutput CQPControllerParams CQPControllerState CQpInput Input to the QP inverse dynamics controller CQpInverseDynamics CQPLocomotionPlan CQPLocomotionPlanSettings CQpOutput Output of the QP inverse dynamics controller CQuadraticLyapunovFunction CQueryObject< T > The QueryObject serves as a mechanism to perform geometry queries on the world's geometry CRoadRulebook::QueryResults Results of a FindRules() query CRandomState< Distribution, Generator > State for a given random distribution and generator CRBounds Bounds in the lateral dimension (r component) of a Lane-frame, consisting of a pair of minimum and maximum r value CRelationalOpTraits< DerivedA, DerivedB, typename > Provides a return type of relational operations (=, ≠, ≤, <, ≥, >) between Eigen::Arrays CRenderingConfig Common configurations of rendering systems Creset_after_move< T > Type wrapper that performs value-initialization on the wrapped type, and guarantees that when moving from this type that the donor object is reset to its value-initialized value Creset_after_move< int > Creset_on_copy< T > Type wrapper that performs value-initialization on copy construction or assignment Creset_on_copy< const drake::systems::ContextBase * > Creset_on_copy< const internal::ContextMessageInterface * > Creset_on_copy< drake::systems::ContextBase * > CResizeDerivativesToMatchScalarImpl< Derived, Scalar > CResizeDerivativesToMatchScalarImpl< Derived, Eigen::AutoDiffScalar< DerivType > > CResolvedContact This class holds contact force related information, and works closely with ContactInformation CRightOfWayStateProvider::Result Result returned by GetState() CMixedIntegerRotationConstraintGenerator::ReturnType CRewritingRule A RewritingRule, lhs => rhs, consists of two Patterns lhs and rhs ►CRgbdRenderer Abstract interface of RGB-D renderers, which render RGB, depth and label images using VisualElement CRightOfWayRule Rule describing right-of-way, a.k.a ►CRightOfWayStateProvider Abstract interface for the provider of the state of a dynamic (multiple state) RightOfWayRule CRigidBody< T > CRigidBody< double > CRigidBodyActuator Defines a physical actuator (i.e., an electric motor and step-down transmission) that operates on a joint ►CRigidBodyConstraint Base class CRigidBodyDistanceConstraint Defines a "relative distance constraint" that models a constraint between points on two different rigid bodies CRigidBodyFrame< T > Multibody systems typically have distinguished frames of interest that need to be monitored CRigidBodyFrame< double > CRigidBodyLoop< T > Defines a "loop joint" that models a kinematic loop formed by a chain of rigid bodies and their regular joints CRigidBodyLoop< double > CRigidBodySupportStateElement CRigidBodyTree< T > Maintains a vector of RigidBody objects that are arranged into a kinematic tree via DrakeJoint objects CRigidBodyTree< double > CRigidBodyTreeAliasGroups< T > This class provides a way to create aliases to groups of RigidBody or DrakeJoint objects CRigidBodyTreeAliasGroups< double > CRigidBodyTreeConstants Defines RigidBodyTree constants CRoadCharacteristics RoadCharacteristics computes and stores characteristics of a road network; i.e CRoadCharacteristics Holds common api::RoadGeometry characteristics needed to construct one ►CRoadCurve Defines an interface for a path in a Segment object surface ►CRoadGeometry Abstract API for the geometry of a road network, including both the network topology and the geometry of its embedding in 3-space CRoadOdometry< T > RoadOdometry contains the position of the vehicle with respect to a lane in a road, along with its velocity vector in the world frame CRoadPath< T > RoadPath converts a sequence of Maliput Lanes into a PiecewisePolynomial for the purpose of generating a path for a car to follow CRoadPosition A position in the road network, consisting of a pointer to a specific Lane and a Lane-frame position in that Lane ►CRoadRulebook Abstract interface for querying "rules of the road" CRobotJointIndexMap CRobotKinematicState< T > A wrapper class around KinematicsCache and several useful matrices such as the inertia matrix, etc ►CRobotKinematicState< double > CRobotPropertyCache CRobotStateLcmMessageTranslator This is a utility class for converting bot_core::robot_state_t message to and from various eigen vectors that correspond to the generalized position, velocity and actuator torque CRollPitchYaw< T > This class represents the orientation between two arbitrary frames A and D associated with a Space-fixed (extrinsic) X-Y-Z rotation by "roll-pitch-yaw" angles [r, p, y], which is equivalent to a Body-fixed (intrinsic) Z-Y-X rotation by "yaw-pitch-roll" angles [y, p, r] CRot3 An R^3 rotation parameterized by roll, pitch, yaw CRot3 An R^3 rotation parameterized by roll, pitch, yaw CRotation A 3-dimensional rotation ►CRotationalInertia< T > This class helps describe the mass distribution (inertia properties) of a body or composite body about a particular point ►CRotationalInertia< double > CRotationMatrix< T > This class represents a 3x3 rotation matrix between two arbitrary frames A and B and helps ensure users create valid rotation matrices Ctype_visit_impl< VisitWith, Visitor >::runner< T, execute > Ctype_visit_impl< VisitWith, Visitor >::runner< T, false > CSampleIndices Describes the row indices of a Sample CScalarInitialValueProblem< T > A thin wrapper of the InitialValueProblem class to provide a simple interface when solving scalar initial value problems i.e CScalarInitialValueProblem< double > CScreenCoord CSdfJoint A representation of a  element in an SDF file CSdfLink A representation of a  element in an SDF file CSdfModel This class provides a representation of a  element within a given SDF specification CSdfSpec This class provides a representation for an SDF specification ►CSegment A Segment represents a bundle of adjacent Lanes which share a continuously traversable road surface ►CSerializerInterface SerializerInterface translates between LCM message bytes and drake::systems::AbstractValue objects that contain LCM messages, e.g., a Value ►CShape The base interface for all shape specifications CShapeReifier The interface for converting shape descriptions to real shapes CShapeTag< ShapeType > Simple struct for instantiating the type-specific Shape functionality CSide CSignalLog< T > This class serves as an in-memory cache of time-dependent vector values CSignalLog< double > CSimDiagramBuilder< T > A wrapper class around DiagramBuilder that facilitates diagram building for controlled simulation CSimpleTreeVisualizer A utility to render a RigidBodyTree in a specified configuration CSimulatedPlantConfiguration Information required to set up a simulation of a pick-and-place scenario with multiple arms, tables, and manipulable objects CSimulator< T > A forward dynamics solver for hybrid dynamic systems represented by System objects CSimulator< double > CTrigPoly< _CoefficientType >::SinCosVars CMathematicalProgram::SolverData CSolverId Identifies a MathematicalProgramSolverInterface implementation CSolverResult This class is used by implementations of the class MathematicalProgramSolverInterface to report their results to the mathematical program CSolverTypeConverter Converts between SolverType and SolverId CGurobiSolver::SolveStatusInfo Contains info returned to a user function that handles a Node or Solution callback CSortedPair< T > This class is similar to the std::pair class CSpatialInertia< T > This class represents the physical concept of a Spatial Inertia CSpatialInertia< double > CSpatialKinematicsPVA< T > Utility class containing the transform and spatial velocity/acceleration of an arbitrary frame B in another arbitrary frame N (e.g., the world) CSpatialVector< SV, T > This class is used to represent physical quantities that correspond to spatial vectors such as spatial velocities, spatial accelerations and spatial forces ►CSpatialVector< SpatialAcceleration, T > ►CSpatialVector< SpatialForce, T > ►CSpatialVector< SpatialMomentum, T > ►CSpatialVector< SpatialVelocity, double > ►CSpatialVector< SpatialVelocity, T > CEndReference::Spec Defines how a Connection's reference curve ends CStartReference::Spec Defines how a Connection's reference curve starts CScalarInitialValueProblem< T >::SpecifiedValues A collection of values i.e CAntiderivativeFunction< T >::SpecifiedValues The set of values that, along with the function being integrated, partially specify the definite integral i.e CInitialValueProblem< T >::SpecifiedValues A collection of values i.e CSpeedLimitRule Rule describing speed limits CSRange Directed, inclusive longitudinal (s value) range from s0 to s1 CStartReference Provides methods to build an StartReference::Spec ►CState< T > State is a container for all the data comprising the complete state of a particular System at a particular moment CRightOfWayRule::State Semantic state of a RightOfWayRule CState< double > ►CStateFeedbackControllerInterface< T > Interface for state feedback controllers ►CStateFeedbackControllerInterface< double > CStepInfo< T > Contains information about the independent variable including time and step number CStepInfo< AutoDiffXd > CStepInfo< double > CStepInfo< symbolic::Expression > CLaneEnd::StrictOrder An arbitrary strict complete ordering, useful for, e.g., std::map CSupportStateElement CSystemConstraint< T > A SystemConstraint is a generic base-class for constraints on Systems CSystemConstraint< AutoDiffXd > CSystemConstraint< double > CSystemIdentification< CoefficientType > Utility functions for system identification CSystemIdentification< CoefficientType >::SystemIdentificationResult A helper struct to hold System ID results ►CSystemMessageInterface ►CSystemOutput< T > An abstract base class template for the values of the output ports of a System ►CSystemOutput< double > CSystemOutput< symbolic::Expression > ►CSystemParentServiceInterface CSystemScalarConverter Helper class to convert a System into a System, intended for internal use by the System framework, not directly by users CSystemSymbolicInspector The SystemSymbolicInspector uses symbolic::Expressions to analyze various properties of the System, such as time invariance and input-to-output sparsity, along with many others CSystemTypeTag< S > A tag object that denotes a System subclass S in function signatures Ctemplate_single_tag< Tpl > Provides a tag for single-parameter templates CPolynomial< _CoefficientType >::Term An individual variable raised to an integer power; e.g. x**2 ►CTest ►CTestWithParam ►CTimeVaryingData Stores matrix data necessary to construct an affine time varying system as a piecewise polynomial trajectory CTotalSizeAtCompileTime< Head, Tail > Helper for totalSizeAtCompileTime function (recursive) CTotalSizeAtCompileTime< Head > Helper for totalSizeAtCompileTime function (base case) CTraits< S > A templated traits class for whether an S can be converted into an S; the default value is true for all values of S, T, and U CTraits< geometry::SceneGraph > CTrajectory A class that wraps a piecewise trajectory instantiated from pose data ►CTrajectory< T > A Trajectory represents a time-varying matrix, indexed by a single scalar double time ►CTrajectory< double > CTransform< T > This class represents a rigid transform between two frames, which can be regarded in two ways CTranslatorBase< DataType, MsgType > Base API for a translator between arbitrary data of DataType and a Lcm message of MsgType CTrigPoly< _CoefficientType > A scalar multi-variate polynomial containing sines and cosines CTVLQRData Ctype_at< I, Ts > Extracts the Ith type from a sequence of types Ctype_at_impl< N, K, T, Ts > Ctype_at_impl< N, N, T, Ts... > Ctype_caster_wrapped< Wrapper > ►Ctype_caster_wrapped< drake::pydrake::detail::wrapper_eigen_translation< T, Dim > > Ctype_check_different_from< T > Provides a check which returns whether T is different than U Ctype_pack< Ts > Provides a tag to pass a parameter packs for ease of inference Ctype_pack_extract_impl< T > Ctype_pack_extract_impl< Tpl< Ts... > > Ctype_tag< T > Provides a tag to pass a type for ease of inference Ctype_visit_impl< VisitWith, Visitor > Ctype_visit_with_default Visit a type by constructing its default value Ctype_visit_with_tag< Tag > Visits a type by construct a template tag's default value CTypeSafeIndex< Tag > A type-safe non-negative index class CTypeSafeIndex< class AnchoredGeometryTag > CTypeSafeIndex< class BodyNodeTag > CTypeSafeIndex< class BodyTag > CTypeSafeIndex< class CacheTag > CTypeSafeIndex< class DependencyTag > CTypeSafeIndex< class ForceElementTag > CTypeSafeIndex< class FrameTag > CTypeSafeIndex< class GeometryPoseTag > CTypeSafeIndex< class GeometryTag > CTypeSafeIndex< class JointActuatorElementTag > CTypeSafeIndex< class JointElementTag > CTypeSafeIndex< class MobilizerTag > CTypeSafeIndex< class ModelInstanceTag > CTypeSafeIndex< class OutputPortTag > CTypeSafeIndex< class RobotBaseTag > CTypeSafeIndex< class TargetTag > CTypeSpecificIdentifier< T > TypeSpecificIdentifier represents an identifier specifically identifying an entity of type T CTypeSpecificIdentifier< class Lane > CTypeSpecificIdentifier< class RightOfWayRule > CTypeSpecificIdentifier< class SpeedLimitRule > CTypeSpecificIdentifier< class State > ►Cuhash< HashAlgorithm > A hashing functor, somewhat like std::hash ►Cunique_ptr< T > STL class CUnrevisedLemkeSolverId Non-template class for UnrevisedLemkeSolver constants CVariable Represents a symbolic variable CVariables Represents a set of variables ►CVectorBase< T > VectorBase is an abstract base class that real-valued signals between Systems and real-valued System state vectors must implement ►CVectorBase< AutoDiffXd > ►CVectorBase< double > ►CVectorBase< symbolic::Expression > CVectorSetpoint< Scalar > CVelocityKinematicsCache< T > This class is one of the cache entries in MultibodyTreeContext CVisualMaterial Definition of material for simple visualization CVRefIntegratorParams CWholeBodyParams CWitnessFunction< T > Class that stores a function that is able to help determine the time and state at which a step of the initial value problem integration of a System should end, which may be done for any number of purposes, including publishing or state reinitialization (i.e., event handling) CWitnessFunction< double > CWorldSimTreeBuilder< T > A helper class to construct robot world RigidBodyTree objects from model (URDF/SDF) files CWorldState A class that represents the iiwa pick and place world, which contains a KUKA iiwa arm, a Schunk WSG gripper, and an object that is being manipulated ►Cwrap_arg_default< T > Default case for argument wrapping, with pure pass-through Cwrap_arg_default< const std::function< Signature > & > Cwrap_arg_default< const T * > ►Cwrap_arg_function Cwrap_function_impl< wrap_arg_policy, use_functions >::wrap_arg_functions< const std::function< Return(Args...)> & > ►Cwrap_arg_policy Cwrap_function_impl< wrap_arg_policy, use_functions > Cwrap_ref_ptr< T &, std::enable_if_t< is_generic_pybind< T >::value > > Cwrap_function_impl< wrap_arg_policy, use_functions >::wrap_type< T, Extra > Cwrap_function_impl< wrap_arg_policy, use_functions >::wrap_type< void, Extra > Cwrapper_eigen_translation< T, Dim > CZMPPlanner Given a desired two dimensional (X and Y) zero-moment point (ZMP) trajectory parametrized as a piecewise polynomial, an optimal center of mass (CoM) trajectory is planned using a linear inverted pendulum model (LIPM) CZMPTestTraj A structure for storing trajectories from simulating a linear inverted pendulum model (LIPM) using the policy from a ZMPPlanner CBodyCollisions Cbool CCollisionFilterGroup< double > Cconst int Cdouble CInputPortLocator Cint CMatrix3< double > CMatrix6X< double > CMatrix< double, drake::kTwistSize, Eigen::Dynamic, 0, drake::kTwistSize, DrakeJoint::MAX_NUM_VELOCITIES > CMatrix< double, Eigen::Dynamic, 1 > CMatrix< double, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIES > CMatrix< double, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONS > CMatrixX< double > ►Cnumeric_limits COutputPortLocator Cpair< drake::systems::PeriodicEventData, std::unique_ptr< drake::systems::Event< double > > > Cshared_ptr< PolynomialEvaluator > Cshared_ptr< RigidBodyFrame< double > > CSquareTwistMatrix< double > CTransform< double, drake::kSpaceDimension, Eigen::Isometry > CTwistVector< double > CType CVector3< double > CVector6< double > CVector6< T > CVectorX< double >