| CCjrlGikComConstraint | Specify a full or partial position constraint on the center of mass |
| CCjrlGikGazeConstraint | This is a PointingConstraint whose joint is the humanoid robot's gaze joint |
| CCjrlGikJointStateConstraint | Specify a Constraint over the state of a joint in a humanoid robot |
| CCjrlGikMotionConstraint | Define the evolution of a state constraint along time |
| CCjrlGikObjectConstructor | |
| CCjrlGikParallelConstraint | Constraint on a vector in a joint frame to be parallel to a vector given in world frame |
| CCjrlGikPlaneConstraint | Description of a constraint that limits the position of a point of the robot to a given plan |
| CCjrlGikPointingConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
| CCjrlGikPositionConstraint | Constraint on a point in a joint to be at a 3D position in the world frame |
| CCjrlGikRotationConstraint | Constraint on the orientation matrix of a joint to change to a given orientation matrix |
| CCjrlGikStateConstraint | Specify a linear constraint over the state of a humanoid robot |
| CCjrlGikTransformationConstraint | Specify a position and orientation constraint on a body of the robot |
| CCjrlLinearConstraint | A linear constraint is an object that returns a m-by-n matrix and an m-vector defining a linear system of equality of inequality constraints (determined by context) |
| CCjrlRobotMotion | Defines the motion of a robot along time |