! Container for SX variables

! Quaternion class

! This class defines the Visualizer for simple visualization.

! Exception to be thrown when a joint type is not supported.

Nonlinear mixed-integer optimization problem. min f(x, z; p) x,z subject to k(x, z; p) = M(p).x + L(p).z + c(p) >= 0

! Linear constrained optimization problem. min f(x, p) x subject to k(x, p

! Nonlinear constrained optimization problem. min f(x, p) x subject to k(x, p) = M(p).

! Unconstrained optimization problem. min f(x, p) x The problem is unconstrained and the cost function is nonlinear.

! Linear constrained Quadratic Program. min f(x, p) where f(x, p) = x'.P(p).x + x'.q(p) x subject to

! Nonlinear constrained optimization problem with quadratic cost function. min f(x, p) where f(x, p) = x'.P(p).x + x'.q(p)

! Unconstrained Quadratic Program. min f(x, p) where f(x, p) = x'.P(p).x + x'.q(p) x The problem is unconstrained, and

! CVXOPT solver interface.

! This is a base class for CasADi solver interfaces.

! Base manager class.

! The Model base class. Defines the base class utilized by all models.

OSQP solver interface.

! Base optimization class.

! OptimizationBuilder allows you to build/specify an optimization problem.

! A class for implementing controllers.

! Manager setup specifically for ROS.

! A class for implementing motion planners.

! A class that defines a robot model. Many methods here model the robot kinematics.

Scipy solver (scipy.optimize.minimize) interface.

! Base solver interface class

! Model class for tasks, e.g. position trajectory.