| ►NDrake | NOTE: The contents of this class are for the most part direct ports of drake/systems/plants//inverseKinBackend.m from Matlab to C++; many methods and variables follow Matlab conventions and are documented in that file |
| ►Ninternal | |
| CCombinedVectorHelper | |
| CCombinedVectorHelper< Vector1, Vector2, true > | |
| CCreateStateVectorDispatch | |
| CCreateStateVectorDispatch< System, Scalar, typename std::enable_if< is_combined_vector< typename System::template StateVector< Scalar > >::value >::type > | |
| CCreateStateVectorDispatch< System, Scalar, typename std::enable_if< is_eigen_vector< typename System::template StateVector< Scalar > >::value >::type > | |
| CInitializeAutoDiffTupleHelper | Helper for initializeAutoDiffTuple function (recursive) |
| CInitializeAutoDiffTupleHelper< 0 > | Helper for initializeAutoDiffTuple function (base case) |
| CLCMInputSystem | |
| CLCMInputSystem< Vector, typename std::enable_if<!std::is_void< typename Vector< double >::LCMMessageType >::value >::type > | |
| CLCMLoop | |
| CLCMOutputSystem | |
| CLCMOutputSystem< Vector, typename std::enable_if<!std::is_void< typename Vector< double >::LCMMessageType >::value >::type > | |
| CNumInputsDispatch | |
| CNumInputsDispatch< System, true > | |
| CNumOutputsDispatch | |
| CNumOutputsDispatch< System, true > | |
| CNumStatesDispatch | |
| CNumStatesDispatch< System, true > | |
| CRandomVectorDispatch | |
| CRandomVectorDispatch< System, typename std::enable_if< System::template StateVector< double >::RowsAtCompileTime== Eigen::Dynamic >::type > | |
| CResizeDerivativesToMatchScalarImpl | |
| CResizeDerivativesToMatchScalarImpl< Derived, Eigen::AutoDiffScalar< DerivType > > | |
| CSizeDispatch | |
| CSizeDispatch< VecType, typename std::enable_if< VecType::RowsAtCompileTime== Eigen::Dynamic >::type > | |
| CTotalSizeAtCompileTime | Helper for totalSizeAtCompileTime function (recursive) |
| CTotalSizeAtCompileTime< Head > | Helper for totalSizeAtCompileTime function (base case) |
| CTupleToMexHelper | |
| CTupleToMexHelper< 0 > | |
| ►Nsystems | |
| ►Nplants | |
| CKinematicsCacheHelper | Helper class to avoid recalculating a kinematics cache which is going to be used repeatedly by multiple other classes |
| CQuasiStaticConstraintWrapper | |
| CSingleTimeKinematicConstraintWrapper | |
| CAdditiveGaussianNoiseModel | GaussianNoiseModel |
| CAffineSystem | AffineSystem<StateVector, InputVector, OutputVector> |
| CBotVisualizer | BotVisualizer<RobotStateVector> |
| CCascadeSystem | CascadeSystem<System1,System2> |
| CCombinedVector | Operator<<() |
| CCombinedVectorUtil | CombinedVectorUtil |
| CCombinedVectorUtil< Vector1, Vector2, typename std::enable_if< Vector1< double >::RowsAtCompileTime==0 >::type > | |
| CEigenVector | EigenVector<Rows>::type<ScalarType> |
| CFeedbackSystem | FeedbackSystem<System1,System2> |
| CFunctionTraits | FunctionTraits |
| CFunctionTraits< std::reference_wrapper< F > > | |
| CFunctionTraits< std::shared_ptr< F > > | |
| CFunctionTraits< std::unique_ptr< F > > | |
| CGain | |
| CInputOutputRelation | InputOutputRelation |
| Cis_combined_vector | Whether or not the given type is a CombinedVector |
| Cis_combined_vector< CombinedVector< Scalar, Vector1, Vector2 > > | |
| Cis_eigen_vector | Whether or not the given type is an Eigen column vector |
| Cis_eigen_vector< Eigen::Matrix< Scalar, Rows, 1, Options, MaxRows, 1 > > | |
| CLinearSystem | |
| CNoiseModel | NoiseModel |
| CPDControlSystem | PDControlSystem<System> |
| CRigidBodyAccelerometer | RigidBodyAccelerometer |
| CRigidBodyDepthSensor | RigidBodyDepthSensor |
| CRigidBodyForceElement | RigidBodyForceElement |
| CRigidBodyGyroscope | RigidBodyGyroscope |
| CRigidBodyMagnetometer | RigidBodyMagnetometer |
| CRigidBodyPropellor | RigidBodyPropellor |
| CRigidBodySensor | An abstract parent class of all sensors |
| CRigidBodySpringDamper | RigidBodySpringDamper |
| CRigidBodySystem | Implements the System concept by wrapping the RigidBodyTree algorithms with additional sensors and actuators/forces |
| CSimulationOptions | |
| ►Ndrake | |
| ►Ncore | |
| ►Ntest | |
| CPendulumInput | A simple Drake input for unit testing |
| CPendulumState | A simple Drake state for unit testing |
| ►Nmath | |
| CAutoDiffToGradientMatrix | |
| CAutoDiffToValueMatrix | |
| CGradient | |
| CGradient< Derived, Nq, 1 > | |
| ►Nparsers | |
| ►Nsolvers | |
| CBoundingBoxConstraint | Implements a constraint of the form lb <= x <= ub |
| CConstraint | A constraint is a function + lower and upper bounds |
| CDecisionVariable | DecisionVariable |
| CDecisionVariableView | |
| CEqualityConstrainedQPSolver | |
| CIpoptSolver | |
| CLinearComplementarityConstraint | Implements a constraint of the form: |
| CLinearConstraint | Implements a constraint of the form lb <= Ax <= ub |
| CLinearEqualityConstraint | Implements a constraint of the form Ax = b |
| CLinearSystemSolver | |
| CMathematicalProgram | A class for characterizing a mathematical program and choosing a solver |
| CMathematicalProgramSolverInterface | Interface used by implementations of individual solvers |
| CMobyLCPSolver | |
| CNloptSolver | |
| ►COptimizationProblem | |
| CSolverData | |
| CPolynomialConstraint | Lb[i] <= Pi <= ub[i], where each P[i] is a multivariate polynomial in x, y.. |
| CQuadraticConstraint | Lb <= .5 x'Qx + b'x <= ub |
| CSnoptSolver | |
| CSystemIdentification | Utility functions for system identification |
| ►Nsystems | |
| ►Nplants | |
| ►Ntest | |
| CAbstractContext3 | An abstract superclass for the Context3 objects for dynamical systems, encapsulating functionality that is independent of the numerical scalar type in use |
| CAbstractSystem3 | An abstract superclass for dynamical systems, encapsulating functionality that is independent of the numerical scalar type in use |
| CAbstractSystemInterface | A fully type-erased abstract superclass for dynamical systems |
| CAbstractValue | A fully type-erased container class |
| CAdder | An adder for arbitrarily many inputs of equal length |
| CAdder3 | An adder for arbitrarily many vector-valued inputs of equal length |
| CBasicStateVector | BasicStateVector is a concrete class template that implements StateVector in a convenient manner for leaf Systems, by owning and wrapping a VectorInterface<T> |
| CBasicVector | BasicVector is a semantics-free wrapper around an Eigen vector that satisfies VectorInterface |
| CCache | |
| CCacheEntry | Each cache entry contains: |
| CCascade3 | A Cascade is a concrete SystemDiagram containing exactly two compatible subsystems with the output of the first serving as input to the second |
| CContext | The Context is a container for all of the data necessary to uniquely determine the computations performed by a System |
| CContext3 | The context is a container for all data necessary to uniquely determine the results of computations performed by a System |
| CContinuousState | The ContinuousState is a container for all the State variables that are unique to continuous Systems, i.e |
| CContinuousSystem | An abstract base class template for Systems that have continuous dynamics |
| CContinuousSystemInterface | A template interface for Systems that have continuous dynamics |
| CDependentInputPort | The DependentInputPort wraps a pointer to the OutputPort of a System for use as an input to another System |
| CDiagram3 | A Diagram is a concrete System that contains other System objects as subsystems and wires them together, but adds no new content |
| CDynamicConstraint | Provides a base implementation and interface for a dynamic constraint (which is intended to be used with trajectory optimization, but is not specific to that purpose) |
| CFreestandingInputPort | The FreestandingInputPort encapsulates a vector of data for use as an input to a System |
| CGain3 | Multiply the single vector input by a scalar and present the result as the single output port |
| CInputEntryFinder | There is one of these corresponding to every InputPort3 in the System3 that created the containing Context3 |
| CInputPort | The InputPort describes a single input to a System, from another System or from an external driver |
| CInputPort3 | An InputPort3 represents an external data input to a System |
| CInputPortFinder | A system diagram may inherit an input port from one of its contained subsystems, which will know that port by a different port number than we will use here |
| CLeafStateVector | LeafStateVector is an abstract class template that implements StateVector for leaf Systems, i.e |
| COutputEntryFinder | There is one of these corresponding to every OutputPort3 in the System3 that created the containing Context3 |
| COutputPort | An OutputPort represents a data output from a System |
| COutputPort3 | An OutputPort3 represents a data output from a System |
| COutputPortFinder | See InputPortFinder for information |
| COutputPortListenerInterface | OutputPortListenerInterface is an interface that consumers of an output port must satisfy to receive notifications when the value on that output port changes |
| CState | The State is a container for all the data comprising the complete state of a particular System at a particular moment |
| CStateSubvector | StateSubvector is a concrete class template that implements StateVector by providing a sliced view of a StateVector |
| CStateVector | StateVector is an abstract base class template for vector quantities within the state of a System |
| CStepInfo | Contains information about the independent variable including time and step number |
| CSystem3 | A superclass template for systems that use a specified scalar type T for numerical values |
| CSystemDynamicConstraint | Implements a dynamic constraint which uses the dynamics function of a system |
| CSystemInterface | A superclass template for systems that receive input, maintain state, and produce numerical output using a specified scalar type T |
| CSystemOutput | A container for all the output ports of a System |
| CValue | A container class for an arbitrary type T |
| CValueListenerInterface | ValueListenerInterface is an interface that dependent computations must implement so that they can receive notifications when a prerequisite value is modified |
| CValueListenerList | A ValueListenerList object maintains a list of value listeners that have registered to receive notification of value changes from the holder of that list |
| CVectorConstant3 | This System produces a constant VectorInterface value on its single OutputPort |
| CVectorInputPort3 | A VectorInputPort3 extends InputPort3 with the restriction that only VectorOutputPort3 connections are acceptable, and the value will be of type VectorInterface |
| CVectorInterface | VectorInterface is a pure abstract interface that real-valued signals between Systems must satisfy |
| CVectorObject | This concrete class provides object semantics to an abstract VectorInterface by implementing a copy constructor and copy assignment using the VectorInterface's Clone() method |
| CVectorOutputPort | The OutputPort represents a data output from a System |
| CVectorOutputPort3 | Extends OutputPort3 for cases where the OutputPort3 is known to be vector-valued, with scalar elements of template type T |
| ►CFunctionalForm | Represent an abstract form of a function of zero or more variables |
| CVariable | Represent a variable in a FunctionalForm |
| CVariables | Represent a set of Variable instances |
| CNAryState | NAryState is a Drake::Vector (concept implementation) which is a container of zero or more component Drake::Vector instances |
| CNArySystem | A System which aggregates multiple instances of a UnitSystem system |
| CNiceTypeName | Obtains canonicalized, platform-independent, human-readable names for arbitrarily-complicated C++ types |
| ►NDrakeCollision | |
| CBulletCollisionWorldWrapper | |
| CBulletModel | |
| CElement | |
| CModel | |
| COverlapFilterCallback | |
| CPointPair | Structure containing the results of a collision query |
| CUnknownShapeException | |
| ►NDrakeShapes | |
| CBox | |
| CCapsule | |
| CCylinder | |
| CElement | |
| CGeometry | |
| CMesh | |
| CMeshPoints | |
| CSphere | |
| CVisualElement | |
| CAllBodiesClosestDistanceConstraint | |
| CAttachment | |
| CBodyMotionData | |
| CBodyMotionParams | |
| CBounds | |
| CbtOverlapFilterCallback | |
| CConstraintMatrixSingularError | |
| CContinuityConstraint | |
| CDesiredBodyAcceleration | |
| CDHomogTrans | |
| CDrakeJoint | |
| CDrakeJointImpl | |
| CDrakeMexPointerTypeId | |
| CDrakeMexPointerTypeId< KinematicsCache< DrakeJoint::AutoDiffFixedMaxSize > > | |
| CDrakeMexPointerTypeId< KinematicsCache< Eigen::AutoDiffScalar< Eigen::VectorXd > > > | |
| CDrakeMexPointerTypeId< KinematicsCache< double > > | |
| CDrakeMexPointerTypeId< RigidBodyTree > | |
| CDrakeRobotState | |
| CEulerConstraint | |
| CExponentialPlusPiecewisePolynomial | Y(t) = K * exp(A * (t - t_j)) * alpha.col(j) + piecewise_polynomial_part(t) |
| CFixedAxisOneDoFJoint | |
| CFixedJoint | |
| CForceTorqueMeasurement | |
| CGazeConstraint | |
| CGazeDirConstraint | |
| CGazeOrientConstraint | |
| CGazeTargetConstraint | |
| CGetSubMatrixGradientArray | |
| CGetSubMatrixGradientSingleElement | |
| CGravityCompensationTorqueConstraint | |
| CHardwareGains | |
| CHardwareParams | |
| CHelicalJoint | |
| CIKoptions | |
| CIKResults | |
| CInstantaneousQPController | |
| CIntegratorParams | |
| CJointNames | |
| CJointSoftLimitParams | |
| CKinematicModifications | |
| CKinematicPath | |
| CKinematicsCache | |
| CKinematicsCacheElement | |
| CKneeSettings | |
| CLCMScope | |
| CMatGradMult | |
| CMatGradMultMat | |
| Cmeasure | |
| CMexWrapper | |
| CMinDistanceConstraint | |
| CMultipleTimeKinematicConstraint | |
| CMultipleTimeLinearPostureConstraint | |
| CPIDOutput | |
| CPiecewiseFunction | |
| CPiecewisePolynomial | A scalar multi-variate piecewise polynomial |
| CPiecewisePolynomialBase | |
| CPoint | |
| CPoint2LineSegDistConstraint | |
| CPoint2PointDistanceConstraint | |
| ►CPolynomial | A scalar multi-variate polynomial, modeled after the msspoly in spotless |
| CMonomial | An additive atom of a Polynomial: The product of any number of Terms and a coefficient |
| CProduct | |
| CTerm | An individual variable raised to an integer power; e.g. x**2 |
| CPositionConstraint | |
| CPositionIndices | |
| CPostureChangeConstraint | |
| CPostureConstraint | |
| CPrismaticJoint | |
| CQPControllerDebugData | |
| CQPControllerOutput | |
| CQPControllerParams | |
| CQPControllerState | |
| CQPLocomotionPlan | |
| CQPLocomotionPlanSettings | |
| CQuadraticLyapunovFunction | |
| CQuasiStaticConstraint | Center of Mass (CoM) is within the support polygon |
| CQuatConstraint | |
| CQuaternionFloatingJoint | |
| CRelativeGazeDirConstraint | |
| CRelativeGazeTargetConstraint | |
| CRelativePositionConstraint | |
| CRelativeQuatConstraint | |
| CRevoluteJoint | |
| ►CRigidBody | |
| CCollisionElement | |
| CRigidBodyActuator | |
| CRigidBodyConstraint | Base class |
| CRigidBodyFrame | |
| CRigidBodyLoop | |
| CRigidBodySupportStateElement | |
| CRigidBodyTree | |
| CRobotJointIndexMap | |
| CRobotPropertyCache | |
| CRollPitchYawFloatingJoint | |
| CSide | |
| CSingleTimeKinematicConstraint | |
| CSingleTimeLinearPostureConstraint | |
| CSplineInformation | |
| CSupportStateElement | |
| CTransformSpatial | |
| ►CTrigPoly | A scalar multi-variate polynomial containing sines and cosines |
| CProduct | |
| CSinCosVars | |
| CTVLQRData | |
| CValueConstraint | |
| CVRefIntegratorParams | |
| CWholeBodyParams | |
| CWorldCoMConstraint | |
| CWorldEulerConstraint | |
| CWorldFixedBodyPoseConstraint | |
| CWorldFixedOrientConstraint | |
| CWorldFixedPositionConstraint | |
| CWorldGazeDirConstraint | |
| CWorldGazeOrientConstraint | |
| CWorldGazeTargetConstraint | |
| CWorldPositionConstraint | |
| CWorldPositionInFrameConstraint | |
| CWorldQuatConstraint | |
1.8.11 
