Library API

Page Hierarchy

• • Todo List

Class Hierarchy

• • Namespace OpenSoT
    • Namespace OpenSoT::AffineUtils
      • Class AffineConstraint
      • Class AffineTask
    • Namespace OpenSoT::constraints
      • Namespace OpenSoT::constraints::acceleration
        • Class JointLimits
        • Class JointLimitsECBF
        • Class JointLimitsViability
        • Class TorqueLimits
        • Class VelocityLimits
      • Namespace OpenSoT::constraints::force
        • Class CoP
        • Class CoPs
        • Class FrictionCone
        • Class FrictionCones
        • Class NormalTorque
        • Class NormalTorques
        • Class StaticConstraint
        • Class WrenchesLimits
        • Class WrenchLimits
      • Namespace OpenSoT::constraints::velocity
        • Class CartesianPositionConstraint
        • Class CartesianVelocity
        • Class CollisionAvoidance
        • Class ConvexHull
        • Class JointLimits
        • Class JointLimitsInvariance
        • Class OmniWheels4X
        • Class VelocityLimits
      • Class Aggregated
      • Class BilateralConstraint
      • Class GenericConstraint
      • Class TaskToConstraint
    • Namespace OpenSoT::solvers
      • Struct stack_level
      • Class BackEnd
      • Class constraint_helper
      • Class eHQP
      • Class eiQuadProgBackEnd
      • Class GLPKBackEnd
        • Struct GLPKBackEnd::GLPKBackEndOptions
      • Class HCOD
      • Class iHQP
      • Template Class Iterator
      • Class l1HQP
      • Class nHQP
        • Class nHQP::TaskData
      • Class OSQPBackEnd
      • Class priority_constraint
      • Class proxQPBackEnd
      • Class QPOasesBackEnd
      • Class qpSWIFTBackEnd
      • Class task_to_constraint_helper
      • Enum solver_back_ends
    • Namespace OpenSoT::tasks
      • Namespace OpenSoT::tasks::acceleration
        • Class AngularMomentum
        • Class Cartesian
        • Class CoM
        • Class Contact
        • Class DynamicFeasibility
        • Class MinJointVel
        • Class Postural
        • Enum GainType
      • Namespace OpenSoT::tasks::floating_base
        • Class Contact
        • Class IMU
      • Namespace OpenSoT::tasks::force
        • Class Cartesian
        • Class CoM
        • Class FloatingBase
        • Class Wrench
        • Class Wrenches
      • Namespace OpenSoT::tasks::velocity
        • Class AngularMomentum
        • Class Cartesian
        • Class CartesianAdmittance
        • Class CollisionAvoidance
        • Class CoM
        • Class Contact
        • Class Gaze
        • Class JointAdmittance
        • Class LinearMomentum
        • Class Manipulability
          • Class Manipulability::ComputeManipulabilityIndexGradient
        • Class MinimumEffort
          • Class MinimumEffort::ComputeGTauGradient
        • Class Postural
        • Class PureRolling
        • Class PureRollingOrientation
        • Class PureRollingPosition
        • Template Class SecondOrderFilter
        • Template Class SecondOrderFilterArray
      • Class Aggregated
      • Class ConstraintToTask
      • Class GenericLPTask
      • Class GenericTask
      • Class MinimizeVariable
    • Namespace OpenSoT::utils
      • Class InverseDynamics
      • Class MatrixPiler
    • Namespace OpenSoT::variables
      • Class Torque
    • Template Class AffineHelperBase
    • Class AutoStack
    • Template Class Constraint
    • Class Indices
    • Class OptvarHelper
      • Struct OptvarHelper::VarInfo
    • Template Class Solver
    • Class SubConstraint
    • Class SubTask
    • Template Class Task
      • Struct Task::istrue
    • Enum HessianType
  • Namespace XBot
    • Class Endl
    • Class Logger
    • Class LoggerClass
  • Class cartesian_utils
  • Class convex_hull
  • Class CostFunction
  • Template Class LDLTInverse
  • Class quaternion
  • Template Class SVDPseudoInverse

File Hierarchy

• • Directory include
    • Directory OpenSoT
      • Directory constraints
        • Directory acceleration
          • File JointLimits.h
          • File JointLimitsECBF.h
          • File JointLimitsViability.h
          • File TorqueLimits.h
          • File VelocityLimits.h
        • Directory force
          • File CoP.h
          • File FrictionCone.h
          • File NormalTorque.h
          • File StaticConstraint.h
          • File WrenchLimits.h
        • Directory velocity
          • File CartesianPositionConstraint.h
          • File CartesianVelocity.h
          • File CollisionAvoidance.h
          • File ConvexHull.h
          • File JointLimits.h
          • File JointLimitsInvariace.h
          • File OmniWheels4X.h
          • File VelocityLimits.h
        • File Aggregated.h
        • File BilateralConstraint.h
        • File GenericConstraint.h
        • File TaskToConstraint.h
      • Directory solvers
        • File BackEnd.h
        • File BackEndFactory.h
        • File eHQP.h
        • File eiQuadProgBackEnd.h
        • File GLPKBackEnd.h
        • File HCOD.h
        • File iHQP.h
        • File l1HQP.h
        • File nHQP.h
        • File OSQPBackEnd.h
        • File proxQPBackEnd.h
        • File QPOasesBackEnd.h
        • File qpSWIFTBackEnd.h
      • Directory tasks
        • Directory acceleration
          • File AngularMomentum.h
          • File Cartesian.h
          • File CoM.h
          • File Contact.h
          • File DynamicFeasibility.h
          • File GainType.h
          • File MinJointVel.h
          • File Postural.h
        • Directory floating_base
          • File Contact.h
          • File IMU.h
        • Directory force
          • File Cartesian.h
          • File CoM.h
          • File FloatingBase.h
          • File Force.h
        • Directory velocity
          • File AngularMomentum.h
          • File Cartesian.h
          • File CartesianAdmittance.h
          • File CollisionAvoidance.h
          • File CoM.h
          • File Contact.h
          • File Gaze.h
          • File JointAdmittance.h
          • File LinearMomentum.h
          • File Manipulability.h
          • File MinimumEffort.h
          • File Postural.h
          • File PureRolling.h
        • File Aggregated.h
        • File ConstraintToTask.h
        • File GenericLPTask.h
        • File GenericTask.h
        • File MinimizeVariable.h
      • Directory utils
        • File Affine.h
        • File AffineUtils.h
        • File AutoStack.h
        • File cartesian_utils.h
        • File convex_hull_utils.h
        • File Indices.h
        • File InverseDynamics.h
        • File Piler.h
        • File RtLog.hpp
        • File SoLib.h
      • Directory variables
        • File Torque.h
      • File Constraint.h
      • File Solver.h
      • File SubConstraint.h
      • File SubTask.h
      • File Task.h

Full API

Namespaces

• Namespace @81

• Namespace idynutils

• Namespace OpenSoT
  • Namespaces
  • Classes
  • Enums
  • Functions
  • Typedefs

• Namespace OpenSoT::AffineUtils
  • Classes

• Namespace OpenSoT::constraints
  • Namespaces
  • Classes

• Namespace OpenSoT::constraints::acceleration
  • Classes

• Namespace OpenSoT::constraints::force
  • Classes

• Namespace OpenSoT::constraints::velocity
  • Classes

• Namespace OpenSoT::solvers
  • Classes
  • Enums
  • Functions
  • Typedefs

• Namespace OpenSoT::tasks
  • Namespaces
  • Classes

• Namespace OpenSoT::tasks::acceleration
  • Classes
  • Enums

• Namespace OpenSoT::tasks::floating_base
  • Classes

• Namespace OpenSoT::tasks::force
  • Classes

• Namespace OpenSoT::tasks::velocity
  • Classes

• Namespace OpenSoT::utils
  • Classes

• Namespace OpenSoT::variables
  • Classes

• Namespace proxsuite
  • Namespaces

• Namespace proxsuite::proxqp

• Namespace qpOASES

• Namespace soth
  • Typedefs

• Namespace std

• Namespace XBot
  • Namespaces
  • Classes
  • Functions

• Namespace XBot::Utils

Classes and Structs

• Struct OptvarHelper::VarInfo
  • Nested Relationships
  • Struct Documentation

• Struct GLPKBackEnd::GLPKBackEndOptions
  • Nested Relationships
  • Struct Documentation

• Struct stack_level
  • Struct Documentation

• Struct Task::istrue
  • Nested Relationships
  • Struct Documentation

• Class cartesian_utils
  • Class Documentation

• Class convex_hull
  • Class Documentation

• Class CostFunction
  • Inheritance Relationships
    • Derived Types
  • Class Documentation

• Template Class LDLTInverse
  • Class Documentation

• Template Class AffineHelperBase
  • Class Documentation

• Class AffineConstraint
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class AffineTask
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class AutoStack
  • Class Documentation

• Template Class Constraint
  • Class Documentation

• Class JointLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class JointLimitsECBF
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class JointLimitsViability
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class TorqueLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class VelocityLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Aggregated
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class BilateralConstraint
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation

• Class CoP
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class CoPs
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class FrictionCone
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class FrictionCones
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class NormalTorque
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class NormalTorques
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class StaticConstraint
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class WrenchesLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class WrenchLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class GenericConstraint
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class TaskToConstraint
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class CartesianPositionConstraint
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class CartesianVelocity
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class CollisionAvoidance
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class ConvexHull
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class JointLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class JointLimitsInvariance
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class OmniWheels4X
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class VelocityLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Indices
  • Class Documentation

• Class OptvarHelper
  • Nested Relationships
    • Nested Types
  • Class Documentation

• Template Class Solver
  • Class Documentation

• Class BackEnd
  • Inheritance Relationships
    • Derived Types
  • Class Documentation

• Class constraint_helper
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class eHQP
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class eiQuadProgBackEnd
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class GLPKBackEnd
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class HCOD
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class iHQP
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Template Class Iterator
  • Class Documentation

• Class l1HQP
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class nHQP
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class nHQP::TaskData
  • Nested Relationships
  • Class Documentation

• Class OSQPBackEnd
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class priority_constraint
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class proxQPBackEnd
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class QPOasesBackEnd
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class qpSWIFTBackEnd
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class task_to_constraint_helper
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class SubConstraint
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class SubTask
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Template Class Task
  • Nested Relationships
    • Nested Types
  • Class Documentation

• Class AngularMomentum
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Cartesian
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class CoM
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Contact
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class DynamicFeasibility
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class MinJointVel
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Postural
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Aggregated
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class ConstraintToTask
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Contact
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class IMU
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Cartesian
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class CoM
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class FloatingBase
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Wrench
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Wrenches
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class GenericLPTask
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class GenericTask
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class MinimizeVariable
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class AngularMomentum
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Cartesian
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation

• Class CartesianAdmittance
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class CollisionAvoidance
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class CoM
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Contact
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Gaze
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class JointAdmittance
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class LinearMomentum
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Manipulability
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Manipulability::ComputeManipulabilityIndexGradient
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class MinimumEffort
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class MinimumEffort::ComputeGTauGradient
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class Postural
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation

• Class PureRolling
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class PureRollingOrientation
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class PureRollingPosition
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Template Class SecondOrderFilter
  • Class Documentation

• Template Class SecondOrderFilterArray
  • Class Documentation

• Class InverseDynamics
  • Class Documentation

• Class MatrixPiler
  • Class Documentation

• Class Torque
  • Inheritance Relationships
    • Base Type
  • Class Documentation

• Class quaternion
  • Class Documentation

• Template Class SVDPseudoInverse
  • Class Documentation

• Class Endl
  • Class Documentation

• Class Logger
  • Class Documentation

• Class LoggerClass
  • Class Documentation

Enums

• Enum HessianType
  • Enum Documentation

• Enum solver_back_ends
  • Enum Documentation

• Enum GainType
  • Enum Documentation

Functions

• Function OpenSoT::operator%(const OpenSoT::tasks::Aggregated::TaskPtr, const std::list<unsigned int>&)
  • Function Documentation

• Function OpenSoT::operator%(const OpenSoT::constraints::Aggregated::ConstraintPtr, const std::list<unsigned int>&)
  • Function Documentation

• Template Function OpenSoT::operator*(const DerivedMatrix&, const AffineHelperBase<DerivedM, DerivedQ>&)
  • Function Documentation

• Function OpenSoT::operator*(const Eigen::MatrixXd&, OpenSoT::tasks::Aggregated::TaskPtr)
  • Function Documentation

• Function OpenSoT::operator*(const double, OpenSoT::tasks::Aggregated::TaskPtr)
  • Function Documentation

• Function OpenSoT::operator*(const double, OpenSoT::tasks::Aggregated::Ptr)
  • Function Documentation

• Template Function OpenSoT::operator+(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)
  • Function Documentation

• Template Function OpenSoT::operator+(const AffineHelperBase<DerivedM1, DerivedQ1>&, const Eigen::MatrixBase<DerivedVector>&)
  • Function Documentation

• Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)
  • Function Documentation

• Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)
  • Function Documentation

• Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::Ptr)
  • Function Documentation

• Function OpenSoT::operator+(const OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::tasks::Aggregated::Ptr)
  • Function Documentation

• Template Function OpenSoT::operator-(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)
  • Function Documentation

• Template Function OpenSoT::operator-(const AffineHelperBase<DerivedM1, DerivedQ1>&, const Eigen::MatrixBase<DerivedVector>&)
  • Function Documentation

• Template Function OpenSoT::operator/(const AffineHelperBase<DerivedM1, DerivedQ1>&, const AffineHelperBase<DerivedM2, DerivedQ2>&)
  • Function Documentation

• Function OpenSoT::operator/(const OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)
  • Function Documentation

• Function OpenSoT::operator/(const OpenSoT::AutoStack::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)
  • Function Documentation

• Function OpenSoT::operator/(const OpenSoT::tasks::Aggregated::TaskPtr, OpenSoT::AutoStack::Ptr)
  • Function Documentation

• Function OpenSoT::operator/(const OpenSoT::AutoStack::Ptr, const OpenSoT::AutoStack::Ptr)
  • Function Documentation

• Function OpenSoT::operator/=
  • Function Documentation

• Function OpenSoT::operator<<(std::ostream&, const AffineHelper&)
  • Function Documentation

• Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::constraints::Aggregated::ConstraintPtr)
  • Function Documentation

• Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::Ptr, const OpenSoT::constraints::Aggregated::ConstraintPtr)
  • Function Documentation

• Function OpenSoT::operator<<(OpenSoT::AutoStack::Ptr, const OpenSoT::constraints::Aggregated::ConstraintPtr)
  • Function Documentation

• Function OpenSoT::operator<<(OpenSoT::tasks::Aggregated::TaskPtr, const OpenSoT::tasks::Aggregated::TaskPtr)
  • Function Documentation

• Function OpenSoT::operator<<(OpenSoT::AutoStack::Ptr, const OpenSoT::tasks::Aggregated::TaskPtr)
  • Function Documentation

• Function OpenSoT::solvers::BackEndFactory
  • Function Documentation

• Function OpenSoT::solvers::whichBackEnd
  • Function Documentation

• Function XBot::bold_off
  • Function Documentation

• Function XBot::bold_on
  • Function Documentation

• Function XBot::color_green
  • Function Documentation

• Function XBot::color_red
  • Function Documentation

• Function XBot::color_reset
  • Function Documentation

• Function XBot::color_yellow
  • Function Documentation

Defines

• Define __SOLVERS__HCOD__
  • Define Documentation

• Define __SOLVERS__PSEUDOINVERSE__
  • Define Documentation

• Define BASE_LINK_COM
  • Define Documentation

• Define BASE_LINK_COM
  • Define Documentation

• Define BASE_LINK_COM
  • Define Documentation

• Define BASE_LINK_COM
  • Define Documentation

• Define BASE_LINK_COM
  • Define Documentation

• Define BOUND_SCALING
  • Define Documentation

• Define BOUND_SCALING
  • Define Documentation

• Define DEFAULT_EPS_REGULARISATION
  • Define Documentation

• Define DEFAULT_EPS_REGULARISATION
  • Define Documentation

• Define DISTAL_LINK_COM
  • Define Documentation

• Define DISTAL_LINK_COM
  • Define Documentation

• Define DISTAL_LINK_COM
  • Define Documentation

• Define DISTAL_LINK_COM
  • Define Documentation

• Define DISTAL_LINK_COM
  • Define Documentation

• Define EIQUADPROG_DEFAULT_EPS_REGULARISATION
  • Define Documentation

• Define OSQP_DEFAULT_EPS_REGULARISATION
  • Define Documentation

• Define PROXQP_DEFAULT_EPS_REGULARISATION
  • Define Documentation

• Define QPOASES_DEFAULT_EPS_REGULARISATION
  • Define Documentation

• Define QPSWIFT_DEFAULT_EPS_REGULARISATION
  • Define Documentation

• Define REGISTER_SO_LIB_
  • Define Documentation

• Define WORLD_FRAME_NAME
  • Define Documentation

• Define WORLD_FRAME_NAME
  • Define Documentation

Typedefs

• Typedef OpenSoT::AffineHelper
  • Typedef Documentation

• Typedef OpenSoT::solvers::solver_back_ends_iterator
  • Typedef Documentation

• Typedef soth::VectorBound
  • Typedef Documentation