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![]() ![]() | A rigid body |
![]() ![]() | This object describes a footprint on a flat floor, by its (x,y) position and its rotation in world frame |
![]() ![]() | Chained list element |
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![]() ![]() | This is a locomotion plan for objects of type ChppGikLocomotionElement |
![]() ![]() | Build some joint masks and weighting vectors for the GIK solver |
![]() ![]() | The Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects |
![]() ![]() | A motion plan column is a column of motion elements inside a motion plan |
![]() ![]() | A "motion row" is a container for motion constraints that share the same priority |
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![]() ![]() | Store a pointer to a CjrlGikMotionConstraint and additional information |
![]() ![]() ![]() | A motion that return a constraint composed of a Com and a Foot transformation |
![]() ![]() ![]() | An object that plans a motion a constraint based on a given target constraint |
![]() ![]() ![]() | A 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 |
![]() ![]() ![]() ![]() | A locomotion element for displacing a foot to the given footprint |
![]() ![]() ![]() ![]() | This 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 |
![]() ![]() ![]() ![]() | This is motion planner for a walk (multiple steps) |
![]() ![]() ![]() ![]() | A locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon |
![]() ![]() ![]() | A motion that return a constraint composed of a Com and a Foot transformation |
![]() ![]() ![]() | CjrlMotionConstraint + priority + working joints |
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![]() ![]() | Abstract class of an object that produces a ChppRobotMotion through a method ChppGikRobotTask::solve() |
![]() ![]() ![]() | This object produces whole body joint motion based on entered "elements".These elements are cartesian motion planners of class ChppGikPrioritizedMotion or class ChppGikLocomotionElement |
![]() ![]() ![]() | This robot task consists in going back to half-sitting stance |
![]() ![]() ![]() | This is a robot hand task |
![]() ![]() ![]() | This is a robot task composed of a sequence of robot tasks |
![]() ![]() ![]() | Use this task to make the robot reach for a target |
![]() ![]() ![]() | This is a task to make the robot step back to have his feet parallel and symmetrical |
![]() ![]() ![]() | This is a task to make the robot do a single step |
![]() ![]() ![]() | Implementation of the Humanoid2006 papers by E.Yoshida |
![]() ![]() | Compute the joints updates for a hierarchy of simultaneous tasks |
![]() ![]() | This is a prioritized inverse kinematics solver |
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![]() ![]() | Wrapper for a jrlHumanoidDynamicRobot, support polygon and related information |
![]() ![]() | This is a step target with information on the moving foot |
![]() ![]() | This is a support polygon class |
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![]() ![]() | Defines the motion of a robot along time |
![]() ![]() | This is a stored robot motion sample |
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![]() ![]() ![]() | A motion that return a constraint composed of a Com and a Foot transformation |
![]() ![]() ![]() | An object that plans a motion a constraint based on a given target constraint |
![]() ![]() ![]() | A 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 |
![]() ![]() ![]() | In this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor |
![]() ![]() ![]() | A motion that return a constraint composed of a Com and a Foot transformation |
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![]() ![]() ![]() ![]() | Use this to concatenate several CjrlGikStateConstraint objects |
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![]() ![]() ![]() ![]() ![]() | Specify a full or partial configuration constraint |
![]() ![]() ![]() ![]() ![]() | Specify a 2D orientation constraint on a body of the robot |
![]() ![]() ![]() ![]() ![]() | Description of a constraint that limits the position of a point of the robot to a given plan |
![]() ![]() ![]() ![]() ![]() | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
![]() ![]() ![]() ![]() ![]() ![]() | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
![]() ![]() ![]() ![]() ![]() | Specify a 3D position constraint on a point of the robot |
![]() ![]() ![]() ![]() ![]() | Specify a 3D orientation constraint on a body of the robot |
![]() ![]() ![]() ![]() ![]() | Specify a 3D position constraint on a point of the robot |
![]() ![]() ![]() ![]() ![]() ![]() | Specify a transformation constraint on a joint of the robot, relatively to another joint |
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![]() ![]() ![]() ![]() ![]() | Specify a full or partial position constraint on the center of mass |
![]() ![]() ![]() ![]() ![]() ![]() | Specify a relative position constraint on the center of mass |
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![]() ![]() ![]() ![]() ![]() | Implementation of some commom functions in CjrlGikJointStateConstraint |
![]() ![]() ![]() ![]() ![]() ![]() | Specify a 2D orientation constraint on a body of the robot |
![]() ![]() ![]() ![]() ![]() ![]() | Description of a constraint that limits the position of a point of the robot to a given plan |
![]() ![]() ![]() ![]() ![]() ![]() | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
![]() ![]() ![]() ![]() ![]() ![]() | Specify a 3D position constraint on a point of the robot |
![]() ![]() ![]() ![]() ![]() ![]() | Specify a 3D orientation constraint on a body of the robot |
![]() ![]() ![]() ![]() ![]() ![]() | Specify a 3D position constraint on a point of the robot |
![]() ![]() ![]() ![]() ![]() | |
![]() ![]() ![]() ![]() ![]() ![]() | Specify a 2D orientation constraint on a body of the robot |
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![]() ![]() ![]() ![]() ![]() ![]() | Description of a constraint that limits the position of a point of the robot to a given plan |
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![]() ![]() ![]() ![]() ![]() ![]() | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
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![]() ![]() ![]() ![]() ![]() ![]() ![]() | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
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![]() ![]() ![]() ![]() ![]() ![]() | Specify a 3D position constraint on a point of the robot |
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![]() ![]() ![]() ![]() ![]() ![]() | Specify a 3D orientation constraint on a body of the robot |
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![]() ![]() ![]() ![]() ![]() ![]() | Specify a 3D position constraint on a point of the robot |