Drake
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Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 123456]
oCAffine
oCBodyMotionDataData structure describing the desired motion of a single body on the robot
oCCapabilityMap
oCCollisionFilterGroup
oCComplementaritySingleSideStaticContactConstraintEnforce the constraint force*(contact_pos(i)-contact_pos(j)) = 0
oCComplementarityStaticContactConstraintEnforces the constraint force_normal(i)*(contact_pos(i)-contact_pos(i+1)) = 0 By contact_pos_x(i)-contact_pos_x(i+1) <= gamma1 contact_pos_x(i)-contact_pos_x(i+1) >= -gamma1 contact_pos_y(i)-contact_pos_y(i+1) <= gamma2 contact_pos_y(i)-contact_pos_y(i+1) >= -gamma2 <force_normal(i),gamma1> = 0 (elementwise) <force_normal(i),gamma2> = 0 (elementwise) gamma1 >= 0 gamma2 >= 0
oCCompositeConstraintCompositeConstraint This is a container class for a set of general constraints and slack variables
oCConstraintConstraint that will be used for Drake solvers
oCDrakeFunctionDrakeFunction.DrakeFunction Abstract parent class for all DrakeFunction classes A DrakeFunction represents a vector-valued function of a single vector input
oCDrakeFunction
oCDynamicalSystemAn interface class for a state-space dynamical system with a single (vector) input u, a single (vector) output y, and a single (vector) state x composed of a combination of continuous time and discrete time variables
oCFinalPoseProblem
oCFootstepA data structure for a single footstep position
oCFootstepPlanA container for footstep plans
oCFrictionConeThe nonlinear friction cone defined by unit cone axis cone_axis and friction coefficient mu_face
oCFunctionWrapperFUNCTIONWRAPPER A simple class to wrap a function handle
oCFunnelLibrary
oCGraspedGeometry
oChandle
oChgsetget
oCIKoptions
oCInstantaneousQPControllerA QP-based balancing and walking controller that exploits TV-LQR solutions for (time-varing) linear COM/ZMP dynamics
oCKinematic
oCKinematicTrajectoryOptimizationAbstract class for kinematic planning
oCLCMCoderAn LCM coder translates an LCM type into a vector of doubles used in Drake
oCLeggedRobotInterface class for legged robots
oCLeggedRobotPlanningProblemFactory class for motion planning problems involving robots that implement the 'LeggedRobot' interface
oCLinear
oCLyapunovFunctionInterface class for Lyapunov functions
oCMixedIntegerConvexProgramThis class is meant to represent general mixed-integer linear, quadratic, quadratically-constrained, and second-order-cone programs
oCMotionPlanningProblemDefines a feasible motion planning problem using Constraint class objects
oCMotionPlanningTree
oCMultipleTreeProblem
oCNonlinearConstraint
oCNonlinearProgramMinimize_x objective(x) subject to cin_lb<=nonlinear_inequality_constraints(x) <= cin_ub nonlinear_equality_constraints(x) = 0 Ain*x <= bin Aeq*x = beq x_lb <= x <= x_ub
oCPassByValueMapThis class provides a pass-by-value version of the containers.Map class
oCPoint
oCPointMassBipedPlan
oCPolynomialTrajectoryLike a trajectory object, but it returns an msspoly for each t (via function handles)
oCPolynomialWTimeVaryingCoefficientsDefines a polynomial (represented by an msspoly) with time-varying coefficients (represented as a trajectory)
oCQPLocomotionPlanSettings
oCRigidBodyConstraint
oCRigidBodyContactWrenchConstrain the contact forces
oCRigidBodyElementHandles lazy binding of urdf parameters to rigid body element values
oCRigidBodyFrameA number of RigidBodyElements (e.g
oCRigidBodyManipulatorFunction
oCRigidBodySupportStateRigidBodySupportState defines a set of supporting bodies and contacts for a rigid body manipulator
oCspotsosprog
oCStereographicPolyEffectively overloads msspoly with trig functions which are implemented using the stereographic projection
oCTaylorVarDoes inline autodiff overloads operators: http://www.mathworks.com/help/techdoc/matlab_oop/br02znk-1.html
oCTimeSteppingRigidBodySensorAnalogous to RigidBodySensor, but for TimeStepping manipulators
oCTrajectoryLibrary
oCTrajectoryLibraryGenerator
oCTransversalSurfaceTransversal surfaces for orbital stabilization irm@m.nosp@m.it.e.nosp@m.du
\CTrigPolySupport class for parsing functions into their polynomial and trigonemetric components