Classes

• namespace bfl
• namespace BipedalLocomotion
  • namespace AutoDiff
    • namespace CppAD
  • namespace ContactModels
    • class ContactModel ContactModel is a generic implementation of a contact model.
    • class ContinuousContactModel final ContinuousContactModel is a model that describe the contact using a continuous representation.
  • namespace Contacts
    • struct ContactBase Definition of the type of contact base class.
    • class ContactDetector
    • class ContactList Class containing a list of contacts.
      • struct ContactCompare Struct used for inserting new contacts in the set.
    • struct ContactPhase Struct defining a contact phase.
    • class ContactPhaseList The ContactPhaseList class computes the contact phases according to a bunch of input contact lists.
    • struct ContactWrench Definition of an ContactWrench structure.
    • struct Corner Definition of a corner.
    • struct DiscreteGeometryContact DiscreteGeometryContact is a contact which is represented by a set of corners that exchanges a pure force whith the enviroment.
    • struct EstimatedContact Definition of an Estimated Contact structure.
    • class FixedFootDetector The FixedFootDetector is a class that can be used to find the fixed foot given a sequence of contacts.
    • class GlobalCoPEvaluator GlobalCoPEvaluator is a class that computes the global CoP given a set of contact wrenches.
    • struct PlannedContact Definition of a Planned Contact structure.
    • class SchmittTriggerDetector Schmitt Trigger thresholding based contact detector that maintains and updates the contact states for a prescribed set of contacts.
  • namespace ContinuousDynamicalSystem
    • namespace internal
      • struct traits
      • struct traits<BipedalLocomotion::ContinuousDynamicalSystem::LieGroupDynamics<_Derived>>
      • struct traits<CentroidalDynamics>
      • struct traits<const T>
      • struct traits<FixedBaseDynamics>
      • struct traits<FloatingBaseSystemKinematics>
      • struct traits<LinearTimeInvariantSystem>
    • class ButterworthLowPassFilter ButterworthLowPass implements a low pass filter of order N.
    • class CentroidalDynamics CentroidalDynamics describes the centroidal dynamics of a multi-body system.
    • class CompliantContactWrench A wrench excerted on a link due to an external contact.
    • class DynamicalSystem DynamicalSystem defines a continuous time dynamical system, i.e.
    • class FirstOrderSmoother FirstOrderSmoother smoother implements a simple smoother based on a first order linear system.
    • class FixedBaseDynamics FixedBaseDynamics describes a the dynamics of a fixed base system The FixedBaseDynamics inherits from a generic DynamicalSystem where the State is described by a BipedalLocomotion::GenericContainer::named_tuple.
    • class FixedStepIntegrator Fixed step integrator base class.
    • class FloatingBaseDynamicsWithCompliantContacts FloatingBaseDynamicalSystem describes a floating base dynamical system.
    • class FloatingBaseSystemKinematics FloatingBaseSystemKinematics describes a floating base system kinematics.
    • class ForwardEuler Forward Euler integration method.
    • class Integrator Integrator base class.
    • class LieGroupDynamics LieGroupDynamics describes the dynamics of a LieGroup.
    • class LinearTimeInvariantSystem LinearTimeInvariantSystem describes a MIMO linear time invariant system of the form where x is the state and u the control input.
    • class MultiStateWeightProvider MultiStateWeightProvider describes the provider for a constant weight.
    • class RK4 RK4 implements the runge-kutta 4 integration method.
  • namespace Conversions
  • namespace Estimators
    • namespace FloatingBaseEstimators
      • struct InternalState Struct holding the elements of the state representation.
      • struct Measurements Struct holding the elements of the measurements data.
      • struct Options Struct containing options runtime options for floating base estimator.
      • struct Output Struct holding the elements of the estimator output.
      • struct SensorsStdDev Struct containing sensor measurement deviation parameters of floating base estimators.
      • struct StateStdDev Struct containing prior state deviation parameters of floating base estimators.
    • namespace RobotDynamicsEstimator
      • class AccelerometerMeasurementDynamics The AccelerometerMeasurementDynamics class is a concrete implementation of the Dynamics.
      • class ConstantMeasurementModel The ConstantMeasurementModel class is a concrete implementation of the Dynamics.
      • class Dynamics The class Dynamics represents a base class describing a generic model composing the ukf process model or the ukf measurement model.
      • class DynamicsFactory DynamicsFactory implements the factory design patter for constructing a Dynamics given its model.
      • class ExternalContactStateDynamics The ExternalContactStateDynamics class is a concrete implementation of the Dynamics.
      • class FrictionTorqueStateDynamics The FrictionTorqueDynamics class is a concrete implementation of the Dynamics.
      • struct FTSensor FTSensor describes the force/torque sensors of the submodels.
      • class GyroscopeMeasurementDynamics The GyroscopeMeasurementDynamics class is a concrete implementation of the Dynamics.
      • class JointVelocityStateDynamics The JointVelocityDynamics class is a concrete implementation of the Dynamics.
      • class KinDynWrapper KinDynWrapper is a concrete class and implements a wrapper of the KinDynComputation class from iDynTree.
      • class MotorCurrentMeasurementDynamics The MotorCurrentMeasurementDynamics class is a concrete implementation of the Dynamics.
      • class RobotDynamicsEstimator RobotDynamicsEstimator is a concrete class and implements a robot dynamics estimator.
      • struct RobotDynamicsEstimatorInput RobotDynamicsEstimatorInput of the RobotDynamicsEstimator containing both the inputs and the measurements for the Unscented Kalman Filter.
      • struct RobotDynamicsEstimatorOutput RobotDynamicsEstimatorOutput of the RobotDynamicsEstimator which represents the estimation of the Unscented Kalman Filter.
      • struct Sensor Sensor describes the generic sensors of the submodels.
      • class SubModel SubModel is a concrete class describing the sub-model object, its model, the list of sensors and the mapping between its joints and the same joints in the full model.
      • class SubModelCreator SubModelCreator is a concrete class and splits a model into sub-models along the force/torque sensors specified as configuration parameters.
      • struct UKFInput The UKFInput struct represents the input of the ukf needed to update the dynamics.
      • class UkfInputProvider UkfInputProvider describes the provider for the inputs of the ukf.
      • class UkfMeasurement UkfMeasurement is a concrete class that represents the Measurement of the estimator.
      • class UkfModel UkfModel is a base class to define the process and measurement model of the UKF.
      • class UkfState UkfState is a concrete class that represents the State of the estimator.
      • class ZeroVelocityStateDynamics The ZeroVelocityStateDynamics class is a concrete implementation of the Dynamics.
    • class BaseEstimatorFromFootIMU BaseEstimatorFromFootIMU implements the propagation of the foot pose to the root link through the kinematic chain given by the leg joints positions.
    • struct BaseEstimatorFromFootIMUInput BaseEstimatorFromFootIMUInput contains the input of the BaseEstimatorFromFootIMU class.
    • struct BaseEstimatorFromFootIMUState BaseEstimatorFromFootIMUState contains the internal state of the estimator.
    • class FloatingBaseEstimator FloatingBaseEstimator class contains the bare-bones implementation for a LeggedOdometry based or Extended Kalman Filter based floating base estimation algorithms for bipedal robots.
      • class ModelComputations iDynTree based model-specific computations class This is class is used in a required configuration step for the estimator All the model related kinematics and dynamics computations specific to the floating base estimator are contained within this class.
    • class InvariantEKFBaseEstimator InvariantEKFBaseEstimator class implements the Contact Aided Invariant EKF algorithm, developed by Ross Hartley, Maani Ghaffari, Ryan M.
    • class LeggedOdometry Floating base estimation algorithm using only kinematic measurements by assuming atleast one frame on the robot is in contact with the environment.
    • class RecursiveLeastSquare
    • struct RecursiveLeastSquareState RecursiveLeastSquare contains the implementation of the Recursive least square filter described in Lennart Ljung - System Identification Theory for the User (1999, Prentice Hall).
  • namespace GenericContainer
    • namespace detail
    • namespace literals
    • struct is_span_constructible is_span_constructible is a utility metafunction to check if iDynTree::Span is constructible given a reference to Class.
    • struct is_span_constructible<Class, typename std::enable_if<std::is_constructible<iDynTree::Span<typename container_data<Class>::type>, Class&>::value>::type> is_span_constructible is a utility metafunction to check if iDynTree::Span is constructible given a reference to Class.
    • struct is_vector is_vector is a utility metafunction used to check if T is a GenericContainer::Vector.
    • struct is_vector<Vector<T>> is_vector is a utility metafunction used to check if T is a GenericContainer::Vector.
    • struct is_vector_constructible is_vector_constructible is a utility metafunction to check if GenericContainer::Vector is constructible given a type T.
    • struct named_param named_param is a struct that associate a compile time hash to a value.
    • struct named_tuple named_tuple is a class that inherits from tuple.
    • class Vector Forward declaration of Vector class.
      • class Ref The class ref is used a substitution to a classical reference to a Vector.
  • namespace IK
    • class AngularMomentumTask AngularMomentumTask is a concrete implementation of the Task.
    • class CoMTask SE3Task is a concrete implementation of the Task.
    • class DistanceTask The DistanceTask class controls the distance of a frame with respect the world origin, or another frame.
    • class GravityTask The GravityTask class aligns the z axis of a frame to a desired gravity direction.
    • struct IKLinearTask IKLinearTask specializes a LinearTask in the case of Inverse Kinematics.
    • class IntegrationBasedIK IntegrationBasedIK implements the interface for the integration base inverse kinematics.
    • struct IntegrationBasedIKProblem IntegrationBasedIKProblem store all the ingredients to run an modfy at runtime an Integration based inverse kinematics problem.
    • struct IntegrationBasedIKState State of the IntegrationBasedIK.
    • class JointLimitsTask JointLimitsTask is a concrete implementation of the Task.
    • class JointTrackingTask JointsTrackingTask is a concrete implementation of the Task.
    • class JointVelocityLimitsTask JointVelocityLimitsTask is a concrete implementation of the Task.
    • class QPFixedBaseInverseKinematics QPFixedBaseInverseKinematics is specialization of QPInverseKinematics class in the case of fixed base system.
    • class QPInverseKinematics QPInverseKinematics is a concrete class and implements an integration base inverse kinematics.
    • class R3Task R3Task is a concrete implementation of the Task.
    • class SE3Task SE3Task is a concrete implementation of the Task.
    • class SO3Task SO3Task is a concrete implementation of the IK::Task.
  • namespace Math
    • class CARE Computes the unique stabilizing solution S to the continuous-time algebraic equation.
    • class ContactWrenchCone ContactWrenchCone computes the polyhedral approximation of the contact wrench friction cone.
    • class CubicSpline Cubic spline implements a 3-rd order polynomial spline in .
    • class LinearizedFrictionCone LinearizedFrictionCone computes the polyhedral approximation of the friction cone.
    • class LinearSpline LinearSpline implements a 1-st order polynomial spline in .
    • class QuadraticBezierCurve QuadraticBezierCurve implements a quadratic Bézier curve.
    • class QuinticSpline Quintic spline implements a 5-th order polynomial spline in .
    • class SchmittTrigger SchmittTrigger implements a discrete version of a SchmittTrigger See here for further details.
      • struct Params Struct holding switching parameters for the Schmitt Trigger.
    • struct SchmittTriggerInput SchmittTriggerState contains the input of the SchmittTrigger class.
    • struct SchmittTriggerOutput
    • struct SchmittTriggerState SchmittTriggerState contains the internal state of the trigger,.
    • class Spline Spline implement a basic spline.
      • struct DerivativeBoundaryConditions BoundaryConditions is a struct that contains the boundary conditions of the spline.
      • struct Polynomial Polynomial is a struct that contains the information of a polynomial.
    • struct TrajectoryPoint TrajectoryPoint is a struct that contains the information of a trajectory point.
    • class Wrench Wrench represent a wrench, i.e.
    • class ZeroOrderSpline ZeroOrderSpline implements a 0 order polynomial spline in .
  • namespace ML
    • class MANN MANN is a class that allows to perform the inference of an onnx implementing Mode-Adaptive Neural Networks (MANN).
    • class MANNAutoregressive MANNAutoregressive is a class that allows to perform autoregressive inference with Mode-Adaptive Neural Networks (MANN).
      • struct AutoregressiveState AutoregressiveState contains all quantities required to reset the Advanceable The base position trajectory, facing direction trajectory and base velocity trajectories are written in a bidimensional local reference frame L in which we assume all the quantities related to the ground-projected base trajectory in xi and yi to be expressed.
    • struct MANNAutoregressiveInput MANNAutoregressiveInput contains the unput to MANN network when used in autoregressive fashion.
    • class MANNAutoregressiveInputBuilder MANNAutoregressiveInputBuilder generates a MANNAutoregressiveInput from a pair of directional inputs.
    • struct MANNAutoregressiveOutput MANNAutoregressiveOutput contains the output to the MANN network when used in autoregressive fashion.
    • struct MANNDirectionalInput Structure representing directional input for MANNAutoregressive.
    • struct MANNFootState MANNFootState contains the state of a foot in contact with the ground.
    • struct MANNInput MANNInput contains the input to the MANN network.
    • struct MANNOutput MANNOutput contains the output to the MANN network.
    • class MANNTrajectoryGenerator MANNTrajectoryGenerator is a class that uses MANNAutoregressive to generate a kinematically feasible trajectory for humanoid robots.
    • struct MANNTrajectoryGeneratorInput Input of the planner.
    • struct MANNTrajectoryGeneratorOutput Output of the trajectory planner.
  • namespace ParametersHandler
    • class IParametersHandler Parameters handler interface.
    • class StdImplementation Parameters handler interface.
    • class TomlImplementation TomlImplementation Toml implementation of the IParametersHandler interface.
    • class YarpImplementation YarpImplementation Yarp implementation of the IParametersHandler interface.
  • namespace Perception
    • namespace Capture
      • class RealSense Realsense driver class.
    • namespace Features
      • struct PCLProcessorParameters
      • class PointCloudProcessor A wrapper class to do a basic PCL processing for perception aided locomotion.
    • class ArucoDetector
    • struct ArucoDetectorOutput Aruco detector output.
    • struct ArucoMarkerData Aruco marker identifiers.
  • namespace Planners
    • namespace UnicycleUtilities
      • namespace Conversions
    • class ConvexHullHelper ConvexHullHelper is an helper class that simplifies the building of a convex hull given a set of points that belongs to .
    • class DCMPlanner DCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).
    • struct DCMPlannerState DCMPlannerState describes the state of the Divergent Component of Motion (DCM) planner.
    • class SO3Planner SO3Planner implements a minimum jerk trajectory planner for object belonging to SO(3).
      • struct BoundaryConditions Struct containing the boundary condition.
      • struct Polynomial Description of a 5-th polynomial.
    • struct SO3PlannerState SO3PlannerState contains the state of the planner.
    • class SwingFootPlanner SwingFootPlanner implement a minimum jerk trajectory planner for the swing foot.
    • struct SwingFootPlannerState SwingFootPlannerState describes the state of Swing foot planner.
    • class TimeVaryingDCMPlanner DCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).
    • class UnicycleTrajectoryGenerator final UnicycleTrajectoryGenerator is a class that generates reference trajectories for humanoid robots.
    • struct UnicycleTrajectoryGeneratorInput
    • struct UnicycleTrajectoryGeneratorOutput
    • struct UnicycleTrajectoryGeneratorParameters
    • class UnicycleTrajectoryPlanner final UnicycleTrajectoryPlanner is a class that uses UnicycleGenerator of https://github.com/robotology/unicycle-footstep-planner) to generate reference trajectories for humanoid robots.
    • struct UnicycleTrajectoryPlannerInput
      • struct COMInitialState
    • struct UnicycleTrajectoryPlannerOutput
      • struct COMTrajectory
      • struct ContactStatus
      • struct DCMTrajectory
      • struct FootTrajectory
      • struct Steps
    • struct UnicycleTrajectoryPlannerParameters
  • namespace ReducedModelControllers
    • class CentroidalMPC CentroidalMPC implements a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities.
    • struct CentroidalMPCOutput CentroidalMPCOutput contains the output of the CentroidalMPC class.
  • namespace RobotInterface
    • struct CameraBridgeMetaData Meta data struct to hold list of sensors and configured options available from the Sensor bridge interface.
    • struct CameraBridgeOptions Camera bridge options.
    • struct CameraLists Camera lists.
    • class ICameraBridge Sensor bridge interface.
    • class IPointCloudBridge Sensor bridge interface.
    • class IRobotControl Robot control interface.
    • class ISensorBridge Sensor bridge interface.
    • struct PCLBridgeMetaData Meta data struct to hold list of sensors and configured options available from the Sensor bridge interface.
    • struct PCLDeviceLists Device lists.
    • struct PolyDriverDescriptor PolyDriverDescriptor describes a PolyDriver.
    • struct SensorBridgeMetaData Meta data struct to hold list of sensors and configured options available from the Sensor bridge interface.
    • struct SensorBridgeOptions Sensor bridge options.
    • struct SensorLists Sensor lists.
    • class YarpCameraBridge YarpCameraBridge Yarp implementation of the ICameraBridge interface Currently available interfaces.
    • class YarpRobotControl YarpRobotControl Yarp implementation of the IRobotControl interface.
    • class YarpSensorBridge YarpSensorBridge Yarp implementation of the ISensorBridge interface Currently available interfaces.
      • struct Impl
        • struct ControlBoardRemapperInterfaces Struct holding remapped remote control board interfaces.
        • struct ControlBoardRemapperMeasures Struct holding measurements polled from remapped remote control board interfaces.
        • struct MASForceTorquesInterface Struct holding remapped MAS interfaces - FT sensors related.
        • struct MASInertialsInterface Struct holding remapped MAS interfaces -inertial sensors related.
        • struct MASSensorIndexMaps
  • namespace SimplifiedModelControllers
    • class CoMZMPController CoMZMPController implements the following control law.
    • struct CoMZMPControllerInput
  • namespace System
    • class Advanceable Basic class that represents a discrete system.
    • class AdvanceableRunner AdvanceableRunner is an helper class that can be used to run a advanceable at a given period.
      • struct Info
    • class Barrier Barrier provides a thread-coordination mechanism that allows an expected number of threads to block until the expected number of threads arrive at the barrier.
    • class ClockBuilder
    • class ClockFactory ClockFactory is an interface that implements the factory paradigm.
    • class ConstantWeightProvider ConstantWeightProvider describes the provider for a constant weight.
    • class Factory Factory implements the factory design patter for constructing a an object of a given Type given its id.
    • class IClock IClock is the interface to the clock.
    • class ILinearTaskFactory ILinearTaskFactory implements the factory design patter for constructing a linear task given its type.
    • class ILinearTaskSolver ILinearTaskSolver describes the interface for solving problem related to LinearTask class.
    • class InputPort Basic class that represents an input port.
    • struct ITaskControllerManager ITaskControllerManager is an interface that can help you to handle tasks containing controllers.
    • class LinearTask LinearTask describes a Linear Task element.
    • class OutputPort Basic class that represents an output port.
    • class RosClock final RosClock implements the IClock interface using ros functions.
    • class RosClockFactory final
    • class SharedResource Basic class that contains a shared resource between two Block classes.
    • class Sink Sink is a template specialization of Advanceable and represents a block that does not contains output.
    • class Source Source is a template specialization of Advanceable and represents a block that does not contains input.
    • class StdClock final StdClock implements the IClock interface using <chrono> from c++std library.
    • class StdClockFactory final
    • class TimeProfiler TimeProfiler is a simple class that can be used to profile the code.
    • class Timer Timer is a simple class that can be used to measure the time between two events.
    • class VariablesHandler VariableHandler is useful to handle variables in an optimization problem, Their name, dimension and position.
      • class VariableDescription
    • struct WeightProvider WeightProvider describes the provider for a weight.
    • class WeightProviderFactory WeightProviderFactory implements the factory design patter for constructing a WeightProvidergiven its type.
    • class YarpClock final YarpClock implements the IClock interface using yarp functions.
    • class YarpClockFactory final
  • namespace TestUtils
    • class MemoryAllocationMonitor
  • namespace TextLogging
    • namespace sinks
      • class RosSink
      • class YarpSink
    • class DefaultLoggerFactory final
    • class LoggerBuilder LoggerBuilder is a class that implements the Builder paradigm.
    • class LoggerFactory LoggerFactory is an interface that implements the factory paradigm.
    • class RosLoggerFactory final RosLoggerFactory implements the factory you should use to enable the sink using ros.
    • class YarpLoggerFactory final YarpLoggerFactory implements the factory you should use to enable the sink using yaro.
  • namespace TSID
    • class AngularMomentumTask AngularMomentumTask is a concrete implementation of the TSIDLinearTask.
      • struct ContactWrench
    • class BaseDynamicsTask BaseDynamicsTask is a concrete implementation of the Task.
      • struct ContactWrench
    • class CoMTask ComTask is a concrete implementation of the TSIDLinearTask.
    • class FeasibleContactWrenchTask FeasibleContactWrenchTask is a concrete implementation of the TSIDLinearTask.
      • struct ContactWrench
    • class JointDynamicsTask JointsDynamicsTask is a concrete implementation of the Task.
      • struct ContactWrench
    • class JointTrackingTask JointsTrackingTask is a concrete implementation of the Task.
    • class QPFixedBaseTSID QPFixedBaseTSID is specialization of QPTSID class in the case of fixed base system.
    • class QPTSID QPTSID is a concrete class and implements a task space inverse dynamics.
    • class R3Task SE3Task is a concrete implementation of the OptimalControlElement.
    • class SE3Task SE3Task is a concrete implementation of the OptimalControlElement.
    • class SO3Task SO3Task is a concrete implementation of the TSIDLinearTask.
    • class TaskSpaceInverseDynamics TaskSpaceInverseDynamics implements the interface for the task space inverse dynamics.
    • struct TaskSpaceInverseDynamicsProblem TaskSpaceInverseDynamicsProblem store all the ingredients to run an modify at runtime an TaskSpaceInverseDynamics problem.
    • struct TSIDLinearTask TSIDLinearTask specializes a LinearTask in the case of Task based Inverse Dynamics.
    • struct TSIDState State of the TaskSpaceInverseDynamics.
    • class VariableRegularizationTask VariableRegularizationTask is a concrete implementation of the Task.
  • namespace YarpUtilities Helper for YARP library.
    • class RosPublisher The class internally contains a YARP based ROS node and a set of publishers.
    • class VectorsCollectionClient VectorsCollectionClient is a class that implements that allows to receive a VectorsCollection from a VectorsCollectionServer.
    • class VectorsCollectionServer VectorsCollectionServer is a class that implements the VectorsCollectionMetadataService.
• namespace Eigen
  • namespace internal
    • struct cast_impl<CppAD::AD<Scalar>, Scalar> cast_impl
• namespace iDynTree
• namespace spdlog
  • namespace sinks
• namespace std STL namespace.
  • struct tuple_element<Index, ::BipedalLocomotion::GenericContainer::named_tuple<Params...>> Template specialization to make the elements of the named_tuple accessible with the Structured binding declaration.
  • struct tuple_element<Index, ::BipedalLocomotion::IK::IntegrationBasedIKProblem>
  • struct tuple_element<Index, ::BipedalLocomotion::TSID::TaskSpaceInverseDynamics>
  • struct tuple_size<::BipedalLocomotion::GenericContainer::named_tuple<Params...>> Template specialization to make the elements of the named_tuple accessible with the Structured binding declaration.
  • struct tuple_size<::BipedalLocomotion::IK::IntegrationBasedIKProblem>
  • struct tuple_size<::BipedalLocomotion::TSID::TaskSpaceInverseDynamics>