Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 123]

▼Nlipm_walking	Main controller namespace
▼Nstates	States of the controller's finite state machine
CDoubleSupport	Double support phase while walking
CInitial	Hold posture and check contacts
CRunStabilizer	Adds/removes the global stabilizer task to the QP
CSingleSupport	Single support phase while walking
CStanding	Enable stabilizer and keep CoM at a reference position
▼Nutils
CSE2d	SE2 transform
CContact	Contacts wrap foot frames with extra info from the footstep plan
CController	Main controller class
CExternalPlanner	Handle requesting/receiving a footstep plan from an external planner
CFootstepPlan	Sequence of footsteps with gait parameters
CModelPredictiveControl	Model predictive control problem
CPlanInterpolator	Footstep plan interpolator
CPreview	Solution of a model predictive control problem
CSole	Foot sole properties
CState	Convenience wrapper for FSM states
CSwingFoot	Swing foot interpolator
▼Nmc_rtc	Framework namespace, only used to add a configuration loader
CConfigurationLoader< lipm_walking::Contact >
CConfigurationLoader< lipm_walking::FootstepPlan >
CConfigurationLoader< lipm_walking::Sole >
▼Nutils	Utility functions and classes
CPolynomialBase	Polynomial function
CCubicPolynomialBase	Cubic polynomial curve
CCubicPolynomial
CCubicPolynomial< double >
CCubicHermitePolynomial	Cubic Hermite polynomial
CHoubaPolynomial	Hermite polynomial with Overall Uniformly-Bounded Accelerations (HOUBA)
CQuinticPolynomialBase	Quintic polynomial
CQuinticPolynomial	Quintic polynomial over vectors
CQuinticPolynomial< double >	Quintic polynomial over floating-point numbers
CQuinticHermitePolynomial	Quintic polynomial with zero velocity and zero acceleration at 0 and 1
CRetimedPolynomial	Polynomial whose argument is retimed to by