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Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 123456]
oCChppGik2DShape
oCChppGik2DVertex
oCChppGikBodyA rigid body
oCChppGikFootprintThis object describes a footprint on a flat floor, by its (x,y) position and its rotation in world frame
oCChppGikLinkedVertexChained list element
oCChppGikLocomotionData
oCChppGikLocomotionPlanThis is a locomotion plan for objects of type ChppGikLocomotionElement
oCChppGikMaskFactoryBuild some joint masks and weighting vectors for the GIK solver
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
oCChppGikMotionPlanRowA "motion row" is a container for motion constraints that share the same priority
oCChppGikPreviewController
oCChppGikPrioritizedMotionStore a pointer to a CjrlGikMotionConstraint and additional information
|oCChppGikComMotionA motion that return a constraint composed of a Com and a Foot transformation
|oCChppGikInterpolatedElementAn object that plans a motion a constraint based on a given target constraint
|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
||oCChppGikFootDisplaceElementA locomotion element for displacing a foot to the given footprint
||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
||oCChppGikWalkElementThis is motion planner for a walk (multiple steps)
||\CChppGikZMPshiftElementA locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon
|oCChppGikNoLocomotionA motion that return a constraint composed of a Com and a Foot transformation
|\CChppGikReadyElementCjrlMotionConstraint + priority + working joints
oCChppGikPrioritizedStateConstraint
oCChppGikRobotTaskAbstract class of an object that produces a ChppRobotMotion through a method ChppGikRobotTask::solve()
|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
|oCChppGikMetaTaskThis is a robot task composed of a sequence of robot tasks
|oCChppGikReachTaskUse this task to make the robot reach for a target
|oCChppGikStepBackTaskThis is a task to make the robot step back to have his feet parallel and symmetrical
|oCChppGikStepTaskThis is a task to make the robot do a single step
|\CChppGikWholeBodyTaskImplementation of the Humanoid2006 papers by E.Yoshida
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
oCChppGikStepTargetThis is a step target with information on the moving foot
oCChppGikSupportPolygonThis is a support polygon class
oCChppGikTools
oCChppRobotMotionDefines the motion of a robot along time
oCChppRobotMotionSampleThis is a stored robot motion sample
oCCjrlGikMotionConstraint [external]
|oCChppGikComMotionA motion that return a constraint composed of a Com and a Foot transformation
|oCChppGikInterpolatedElementAn object that plans a motion a constraint based on a given target constraint
|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
|oCChppGikMotionConstraintIn this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor
|\CChppGikNoLocomotionA motion that return a constraint composed of a Com and a Foot transformation
\CCjrlLinearConstraint [external]
 \CCjrlGikStateConstraint [external]
  oCChppGikMotionPlanElementUse this to concatenate several CjrlGikStateConstraint objects
  oCChppGikVectorizableConstraint
  |oCChppGikConfigurationConstraintSpecify a full or partial configuration constraint
  |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
  ||\CChppGikGazeConstraintConstraint 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
  |oCChppGikRotationConstraintSpecify a 3D orientation constraint on a body of the robot
  |\CChppGikTransformationConstraintSpecify a 3D position constraint on a point of the robot
  | \CChppGikRelativeTransformationConstraintSpecify a transformation constraint on a joint of the robot, relatively to another joint
  oCCjrlGikComConstraint [external]
  |\CChppGikComConstraintSpecify a full or partial position constraint on the center of mass
  | \CChppGikRelativeComConstraintSpecify a relative position constraint on the center of mass
  \CCjrlGikJointStateConstraint [external]
   oCChppGikJointStateConstraintImplementation of some commom functions in CjrlGikJointStateConstraint
   |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
   |oCChppGikRotationConstraintSpecify a 3D orientation constraint on a body of the robot
   |\CChppGikTransformationConstraintSpecify a 3D position constraint on a point of the robot
   oCCjrlGikParallelConstraint [external]
   |\CChppGikParallelConstraintSpecify a 2D orientation constraint on a body of the robot
   oCCjrlGikPlaneConstraint [external]
   |\CChppGikPlaneConstraintDescription of a constraint that limits the position of a point of the robot to a given plan
   oCCjrlGikPointingConstraint [external]
   |oCChppGikPointingConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
   |\CCjrlGikGazeConstraint [external]
   | \CChppGikGazeConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
   oCCjrlGikPositionConstraint [external]
   |\CChppGikPositionConstraintSpecify a 3D position constraint on a point of the robot
   oCCjrlGikRotationConstraint [external]
   |\CChppGikRotationConstraintSpecify a 3D orientation constraint on a body of the robot
   \CCjrlGikTransformationConstraint [external]
    \CChppGikTransformationConstraintSpecify a 3D position constraint on a point of the robot