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Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
 CCjrlGikComConstraintSpecify a full or partial position constraint on the center of mass
 CCjrlGikGazeConstraintThis is a PointingConstraint whose joint is the humanoid robot's gaze joint
 CCjrlGikJointStateConstraintSpecify a Constraint over the state of a joint in a humanoid robot
 CCjrlGikMotionConstraintDefine the evolution of a state constraint along time
 CCjrlGikObjectConstructor
 CCjrlGikParallelConstraintConstraint on a vector in a joint frame to be parallel to a vector given in world frame
 CCjrlGikPlaneConstraintDescription of a constraint that limits the position of a point of the robot to a given plan
 CCjrlGikPointingConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
 CCjrlGikPositionConstraintConstraint on a point in a joint to be at a 3D position in the world frame
 CCjrlGikRotationConstraintConstraint on the orientation matrix of a joint to change to a given orientation matrix
 CCjrlGikStateConstraintSpecify a linear constraint over the state of a humanoid robot
 CCjrlGikTransformationConstraintSpecify a position and orientation constraint on a body of the robot
 CCjrlLinearConstraintA 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)
 CCjrlRobotMotionDefines the motion of a robot along time