#include <vector>
#include <iostream>
#include <jrl/mal/matrixabstractlayer.hh>
#include "abstract-robot-dynamics/abstract-robot-dynamics.hh"
Classes | |
class | ChppGikFootprint |
This object describes a footprint on a flat floor, by its (x,y) position and its rotation in world frame. More... | |
class | ChppGikStepTarget |
This is a step target with information on the moving foot. More... | |
class | ChppGikSupportPolygon |
This is a support polygon class. More... |