* @brief Exception raised by \ref Problem in case of failure */

* @brief Integrator can be used to efficiently build expressions and values over a decision variable that * is integrated over time with a given line

* @brief An expression is a linear combination of decision variables of the form Ax + b that can * be conveniently manipulated using operators */

* @brief LIPM is an helper that can be used to build problem involving LIPM dynamics. The decision variables * introduced here are jerks, which is pi

Wrapper to convert Affine3d to a numpy 4x4 matrix

* @brief Used to mask some task axises * * See the \ref set_axises method * * ```cpp * // Will only keep the x and y axises * someTask.mask.set_

* @brief A cone constraint is a constraint where the z-axis of frame a and frame b should remaine within a cone of * angle angle_max. */

* @brief Constraints the distance betweek two points in the robot */

* @brief A collection of parameters that can be used to define the capabilities and the constants behind * planning and control of an humanoid robot.

* @brief Inverse Kinematics solver */

* @brief Provides convenient helpers to build 2D polygon belonging constraints */

* @brief Represents an object (like a task or a constraint) that is prioritized. */

* @brief A problem is an object that has variables and constraints to be solved by a QP solver. */