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Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
oNmaal
oCChppGik2DShape
oCChppGik2DVertex
oCChppGikBodyA rigid body
oCChppGikComConstraintSpecify a full or partial position constraint on the center of mass
oCChppGikComMotionA motion that return a constraint composed of a Com and a Foot transformation
oCChppGikConfigurationConstraintSpecify a full or partial configuration constraint
oCChppGikFootDisplaceElementA locomotion element for displacing a foot to the given footprint
oCChppGikFootprintThis object describes a footprint on a flat floor, by its (x,y) position and its rotation in world frame
oCChppGikGazeConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
oCChppGikGenericTaskThis object produces whole body joint motion based on entered "elements".These elements are cartesian motion planners of class ChppGikPrioritizedMotion or class ChppGikLocomotionElement
oCChppGikHalfSittingTaskThis robot task consists in going back to half-sitting stance
oCChppGikHandTaskThis is a robot hand task
oCChppGikInterpolatedElementAn object that plans a motion a constraint based on a given target constraint
oCChppGikJointStateConstraintImplementation of some commom functions in CjrlGikJointStateConstraint
oCChppGikLinkedVertexChained list element
oCChppGikLocomotionData
oCChppGikLocomotionElementA locomotion element is a motion planning task that produces threes motion chunks: a 2D Zero Momentum Point motion, a foot motion constraint and a support polygon motion
oCChppGikLocomotionPlanThis is a locomotion plan for objects of type ChppGikLocomotionElement
oCChppGikMaskFactoryBuild some joint masks and weighting vectors for the GIK solver
oCChppGikMetaTaskThis is a robot task composed of a sequence of robot tasks
oCChppGikMotionConstraintIn this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor
oCChppGikMotionPlanThe Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects
oCChppGikMotionPlanColumnA motion plan column is a column of motion elements inside a motion plan
oCChppGikMotionPlanElementUse this to concatenate several CjrlGikStateConstraint objects
oCChppGikMotionPlanRowA "motion row" is a container for motion constraints that share the same priority
oCChppGikNoLocomotionA motion that return a constraint composed of a Com and a Foot transformation
oCChppGikParallelConstraintSpecify a 2D orientation constraint on a body of the robot
oCChppGikPlaneConstraintDescription of a constraint that limits the position of a point of the robot to a given plan
oCChppGikPointingConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
oCChppGikPositionConstraintSpecify a 3D position constraint on a point of the robot
oCChppGikPreviewController
oCChppGikPrioritizedMotionStore a pointer to a CjrlGikMotionConstraint and additional information
oCChppGikPrioritizedStateConstraint
oCChppGikReachTaskUse this task to make the robot reach for a target
oCChppGikReadyElementCjrlMotionConstraint + priority + working joints
oCChppGikRelativeComConstraintSpecify a relative position constraint on the center of mass
oCChppGikRelativeTransformationConstraintSpecify a transformation constraint on a joint of the robot, relatively to another joint
oCChppGikRobotTaskAbstract class of an object that produces a ChppRobotMotion through a method ChppGikRobotTask::solve()
oCChppGikRotationConstraintSpecify a 3D orientation constraint on a body of the robot
oCChppGikSolverCompute the joints updates for a hierarchy of simultaneous tasks
oCChppGikSolverBasicThis is a prioritized inverse kinematics solver
oCChppGikSolverLNE
oCChppGikStandingRobotWrapper for a jrlHumanoidDynamicRobot, support polygon and related information
oCChppGikStepBackTaskThis is a task to make the robot step back to have his feet parallel and symmetrical
oCChppGikStepElementThis is motion planner for a step This is a sequence ChppGikZMPshiftElement-ChppGikFootDisplaceElement-ChppGIkZMPshiftElement that plans motion for the feet and for the ZMP as follows:
First, ZMP is moved under the support foot
oCChppGikStepTargetThis is a step target with information on the moving foot
oCChppGikStepTaskThis is a task to make the robot do a single step
oCChppGikSupportPolygonThis is a support polygon class
oCChppGikTools
oCChppGikTransformationConstraintSpecify a 3D position constraint on a point of the robot
oCChppGikVectorizableConstraint
oCChppGikWalkElementThis is motion planner for a walk (multiple steps)
oCChppGikWholeBodyTaskImplementation of the Humanoid2006 papers by E.Yoshida
oCChppGikZMPshiftElementA locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon
oCChppRobotMotionDefines the motion of a robot along time
\CChppRobotMotionSampleThis is a stored robot motion sample