API Reference

This section contains the complete API reference for the Qontrol library.

C++ API

The standalone reference documentation for the core C++ library is generated using Doxygen and is hosted separately.

• C++ API Reference

Python API

The Python API bindings generated by nanobind closely mirror the C++ architecture. Browse the python modules below:

• Module Overview
  • Main Components
• Model Classes
  • RobotState
  • RobotModel
• Problem Classes
  • ResolutionStrategy Class
  • Velocity Control
  • Acceleration Control
  • Torque Control
• Task Classes
  • GenericTaskClass
  • TaskSets
  • Joint Space Tasks
  • Cartesian Space Tasks
• Constraint Classes
  • GenericConstraint Class
  • ConstraintSets
  • Constraint for a joint velocity control
  • Constraint for a joint acceleration control
  • Constraint for a joint torque control
• Solver Classes
  • Base Solver Class
  • Available Solvers

Quick Links

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• Module Index

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