
class  DirectCollocation 
 DirectCollocation implements the approach to trajectory optimization as described in C. More...


class  DirectTranscription 
 DirectTranscription is perhaps the simplest implementation of a multiple shooting method, where we have decision variables representing the control and input at every sample time in the trajectory, and onestep of numerical integration provides the dynamic constraints between those decision variables. More...


class  GeneralizedConstraintForceEvaluator 
 This evaluator computes the generalized constraint force Jᵀλ ∈ ℝ ᴺᵛ, where Nᵥ is the size of the generalized velocities. More...


class  JointLimitConstraintForceEvaluator 
 Evaluates the joint limit constraint force. More...


class  MultipleShooting 
 MultipleShooting is an abstract class for trajectory optimization that creates decision variables for inputs, states, and (optionally) sample times along the trajectory, then provides a number of methods for working with those decision variables. More...


class  PositionConstraintForceEvaluator 
 Evaluates the generalized constraint force from RigidBodyTree::positionConstraint. More...

