Drake
Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 123456]
 ►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 > ►CAction Base class for actions used by the pick and place demo CAddRotationMatrixBilinearMcCormickMilpConstraintsReturn< kNumIntervalsPerHalfAxis > The return types from AddRotationMatrixBilinearMcComickMilpConstraints 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 CArticulatedBodyInfluence Description on how the optimization affects a body CArticulatedIcpBodyPoints Contains a group of points to be rendered in a linearized ICP cost ►CArticulatedIcpErrorCost Accumulate errors and render the cost into an appropriate format CArticulatedIcpErrorSet A set of Cartesian errors and their gradients: {(eᵢ, Jᵢ)}ᵢ₌₁..ₙ Cassert_if_is_constraint< F > Template condition to only catch when Constraints are inadvertently passed as an argument CAttachment CAutoDiffToGradientMatrix< Derived > CAutoDiffToValueMatrix< Derived > CAutomotiveSimulator< T > AutomotiveSimulator is a helper class for constructing and running automotive-related simulations 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 > 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 CBounds CBounds ►CBranchPoint A BranchPoint is a node in the network of a RoadGeometry at which Lanes connect to one another ►CbtOverlapFilterCallback CBuilder Convenient builder class which makes it easy to construct a monolane road network CBuilder Convenient builder class which makes it easy to construct a multilane road network CBuilder A class to ease the construction of a RoadGeometry from Connection and DirectedWaypoint objects CBulletCollisionWorldWrapper CCache Cache is a key-value store used within the System2 framework to avoid computing intermediate data multiple times during simulation or analysis CCacheEntry A single cached piece of data, its validity bit, and the set of other cache entries that depend on it 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< symbolic::Formula > CConnection Representation of a reference path connecting two endpoints CConnection Representation of a reference path connecting two endpoints CConnection A container that holds the information needed by a Builder to construct one or more Lane objects CPidControlledSystem< T >::ConnectResult The return type of ConnectController CGeometryState< T >::MapKeyRange< K, V >::ConstIterator ►CConstrainedValues Base class for specifying various desired objectives CConstraintAccelProblemData< T > Structure for holding constraint data for computing constraint forces at the acceleration-level 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 CContactDetail< double > CContactForce< T > The data for a single contact force applied to one body of a contacting pair CContactForce< double > CContactInfo< T > A class containing information regarding contact response between two bodies including: CContactInfo< double > 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 containg the contact results (contact points and response spatial forces for each colliding pair of collision elements) CContactResults< double > ►CContext< T > Context is an abstract base class template that represents all the inputs to a System: time, state, and input vectors CContext< AutoDiffXd > ►CContext< double > CContext< symbolic::Expression > CContinuityConstraint ►CContinuousState< T > ContinuousState is a container for all the continuous state variables xc CContinuousState< double > CContinuousState< symbolic::Expression > 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 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 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 > CDirectedWaypoint A container that holds the information needed by a Builder to construct a Lane from a sequence of ignition::rndf::Waypoint objects ►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 ►CDrakeLcmMessageHandlerInterface Defines a message handler interface that must be implemented by all LCM subscribers within Drake 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 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 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 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 ►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 > > ►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 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 > CFrameIdVector Represents an ordered set of frame identifiers CFrameKinematicsVector< KinematicsValue > A FrameKinematicsVector associates a std::vector with a geometry source 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 CFunctionTraits< F > FunctionTraits CFunctionTraits< std::reference_wrapper< F > > CFunctionTraits< std::shared_ptr< F > > CFunctionTraits< std::unique_ptr< F > > ►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 by GeometryWorld 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 CGeometryState< T > The context-dependent state of GeometryWorld 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 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 > 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 CImageTraits< PixelType > Traits class for Image CImageTraits< PixelType::kBgr8U > CImageTraits< PixelType::kBgra8U > CImageTraits< PixelType::kDepth16U > CImageTraits< PixelType::kDepth32F > CImageTraits< PixelType::kGrey8U > CImageTraits< PixelType::kLabel16I > CImageTraits< PixelType::kRgb8U > CImageTraits< PixelType::kRgba8U > CInitializeAutoDiffTupleHelper< Index > Helper for initializeAutoDiffTuple function (recursive) CInitializeAutoDiffTupleHelper< 0 > Helper for initializeAutoDiffTuple function (base case) CInputPortDescriptor< T > InputPortDescriptor is a notation for specifying the kind of input a System accepts, on a given port CInputPortDescriptor< AutoDiffXd > CInputPortDescriptor< double > ►CInputPortEvaluatorInterface< T > InputPortEvaluatorInterface is implemented by classes that are able to evaluate the OutputPortValue connected to a particular InputPortValue CInputPortEvaluatorInterface< AutoDiffXd > ►CInputPortEvaluatorInterface< double > 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 CInterval CIntervalIndex 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 CJoint< T >::JointImplementation (Advanced) A Joint is implemented in terms of MultibodyTree elements such as bodies, mobilizers, force elements and constraints CJointImplementationBuilder< T > 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 > CKinematicsResults< T > A class containing the kinematics results from a RigidBodyPlant system CKneeSettings 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 CLanePositionT< T > A 3-dimensional position in a Lane-frame, consisting of three components: CLanePositionT< double > ►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 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 CMatGradMult< DerivedDA, DerivedB > CMatGradMultMat< DerivedA, DerivedB, DerivedDA > ►CMathematicalProgram ►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 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 CPolynomial< _CoefficientType >::Monomial An additive atom of a Polynomial: The product of any number of Terms and a coefficient CMonomial Represents a monomial, a product of powers of variables with non-negative integer exponents CMovingAverageFilter< T > The implementation of a Moving Average Filter 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 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) CObjectTestSetup CObjFeatures Multitude of parameters for generating an OBJ model of a road surface, with sensible defaults ►COptimizationProgram 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 ►COutputPort< T > An OutputPort belongs to a System and represents the properties of one of that System's output ports COutputPort< AutoDiffXd > COutputPort< double > ►COutputPortListenerInterface OutputPortListenerInterface is an interface that consumers of an output port must satisfy to receive notifications when the value of that output port may have changed COutputPortValue OutputPortValue contains the value of a single System output port 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< double > CParamSet A class for parsing and storing parameters that are used to generate QpInput for the inverse dynamics controller CPenetrationAsPointPair< T > A characterization of the intersection of two penetrating geometries CEvent< T >::PeriodicAttribute A token describing an event that recurs on a fixed period CPeriodicAttributeComparator< T > Structure for comparing two PeriodicAttributes 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 > ►CPiecewiseFunction CPlaneIndices 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 CPointCloudVisualizer CPointCorrespondence Simple point-to-point correspondence CPointPair Structure containing the results of a collision query CPolynomial< _CoefficientType > A scalar multi-variate polynomial, modeled after the msspoly in spotless CPolynomial Represents symbolic polynomials 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 CTrajectoryCar< T >::PositionHeading Data structure returned by CalcRawPose containing raw pose information CPositionIndices CPositionKinematicsCache< T > This class is one of the cache entries in MultibodyTreeContext CCurve2< T >::PositionResult A result type for the GetPosition method CPolynomial< _CoefficientType >::Product< Rhs, Lhs > CTrigPoly< _CoefficientType >::Product< Rhs, Lhs > 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 CQueryHandle< T > The QueryHandle serves as a mechanism to allow LeafSystem instances to perform geometry queries on GeometrySystem 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 Creinit_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 Creinit_after_move< int > CRelationalOpTraits< DerivedA, DerivedB, typename > Provides a return type of relational operations (=, ≠, ≤, <, ≥, >) between Eigen::Arrays CResizeDerivativesToMatchScalarImpl< Derived, Scalar > CResizeDerivativesToMatchScalarImpl< Derived, Eigen::AutoDiffScalar< DerivType > > CResolvedContact This class holds contact force related information, and works closely with ContactInformation CRgbdRenderer An RGB-D renderer that renders RGB, depth and label images using VisualElement 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 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 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 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 > CSampleIndices Describes the row indices of a Sample CScene A scene describes a group of objects (stored within a rigid body tree structure), the world frame, and the camera frame CSceneState Stored state of a scene 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 CSolverTypeConverter Converts between SolverType and SolverId CGurobiSolver::SolveStatusInfo Contains info returned to a user function that handles a Node or Solution callback 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< SpatialVelocity, T > ►CState< T > State is a container for all the data comprising the complete state of a particular System at a particular moment 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 ►CSystem< T > A superclass template for systems that receive input, maintain state, and produce output of a given mathematical type T CSystem< AutoDiffXd > ►CSystem< double > 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 ►CSystemOutput< T > An abstract base class template for the values of the output ports of a System ►CSystemOutput< double > CSystemOutput< symbolic::Expression > 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 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) CTrackedBody A structure used to store the attributes of a tracked rigid body 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::GeometrySystem > ►CTrajectory A Trajectory represents a time-varying matrix of doubles CTransformSpatial< Derived > 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 CTypeSafeIndex< Tag > A type-safe non-negative index class CTypeSafeIndex< class AnchoredGeometryTag > CTypeSafeIndex< class BodyNodeTag > CTypeSafeIndex< class BodyTag > CTypeSafeIndex< class ForceElementTag > CTypeSafeIndex< class FrameTag > CTypeSafeIndex< class GeometryPoseTag > CTypeSafeIndex< class GeometryTag > CTypeSafeIndex< class MobilizerTag > CTypeSafeIndex< class OutputPortTag > CTypeSafeIndex< class RobotBaseTag > CTypeSafeIndex< class TargetTag > CTypeSpecificIdentifier< T > TypeSpecificIdentifier represents an identifier specifically identifying an entity of type T ►Cuhash< HashAlgorithm > A hashing functor, somewhat like std::hash ►Cunique_ptr< T > STL class CValueConstraint 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 CVRefIntegratorParams CWholeBodyParams ►CWitnessFunction< T > Abstract class that describes a function that is able to help determine the time and state at which a simulation should be halted, 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 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 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 Cpair< typename drake::systems::Event< double >::PeriodicAttribute, std::unique_ptr< drake::systems::Event< double > > > CPortIdentifier Cshared_ptr< PolynomialEvaluator > Cshared_ptr< RigidBodyFrame< double > > CSquareTwistMatrix< double > CTransform< double, drake::kSpaceDimension, Eigen::Isometry > CTwistVector< double > CVector3< double > CVector6< double > CVector6< T > CVectorX< double >