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
CSingleSupport	Single support phase while walking
CStanding	Enable stabilizer and keep CoM at a reference position
CContact	Contacts wrap foot frames with extra info from the footstep plan
CController	Main controller class
CFloatingBaseObserver	Kinematics-only floating-base observer
CFootstepPlan	Sequence of footsteps with gait parameters
CModelPredictiveControl	Model predictive control problem
CNetWrenchObserver	Observe net contact wrench from force/torque measurements
CPendulum	State of the inverted pendulum model
CPlanInterpolator	Footstep plan interpolator
CPreview	Solution of a model predictive control problem
CSole	Foot sole properties
CStabilizer	Walking stabilization based on linear inverted pendulum tracking
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
CCubicHermitePolynomial	Cubic Hermite polynomial
CCubicPolynomial
CCubicPolynomial< double >
CCubicPolynomialBase	Cubic polynomial curve
CExponentialMovingAverage	Exponential Moving Average
CHoubaPolynomial	Hermite polynomial with Overall Uniformly-Bounded Accelerations (HOUBA)
CLeakyIntegrator	Leaky integrator
CLowPassVelocityFilter	Compute velocity by finite difference of position measurements, applying a low-pass filter to it
CPolynomialBase	Polynomial function
CQuinticHermitePolynomial	Quintic polynomial with zero velocity and zero acceleration at 0 and 1
CQuinticPolynomial	Quintic polynomial over vectors
CQuinticPolynomial< double >	Quintic polynomial over floating-point numbers
CQuinticPolynomialBase	Quintic polynomial
CRetimedPolynomial	Polynomial whose argument \(s \in [0, 1]\) is retimed to \(t \in [0, T]\) by \( s(t) = t / T \)
CSE2d	SE2 transform
CStationaryOffsetFilter	Remove stationary offset from an input signal