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ChppGikStepElement
ChppGikStepElement::ChppGikStepElement(ChppGikStandingRobot *inSRobot, double inStartTime, const ChppGikFootprint *inFootprint, bool isRightFoot, double inSamplingPeriod, double inFinalZMPCoefficient=0.75, double inEndShiftTime=0.8, double inStartZMPShiftTime=0.6, double inFootMotionDuration=0.8, double inStepHeight=0.05)
ChppGikStepElement::ChppGikStepElement(ChppGikStandingRobot *inSRobot, const ChppGikFootprint *inFootprint, double inStartTime, bool isRightFoot, double rightfoot2TargetZMPX, double rightfoot2TargetZMPY, double inSamplingPeriod, double inEndShiftTime=0.8, double inStartZMPShiftTime=0.6, double inFootMotionDuration=0.8, double inStepHeight=0.05)
ChppGikWalkElement
ChppGikWalkElement::ChppGikWalkElement(ChppGikStandingRobot *inSRobot, double inSamplingPeriod, double inStartTime, const std::vector< ChppGikStepTarget * > &inAbsoluteSteps, double inZMPstart=0.1, double inFoot=1.2, double inZMPEnd=0.1)
ChppGikWalkElement::ChppGikWalkElement(double rightfoot2TargetZMPX, double rightfoot2TargetZMPY, double zmplasttime, ChppGikStandingRobot *inSRobot, double inSamplingPeriod, double inStartTime, const std::vector< ChppGikStepTarget * > &inAbsoluteSteps, double inZMPstart=0.1, double inFoot=1.2, double inZMPEnd=0.1)
ChppGikWholeBodyTask
ChppGikWholeBodyTask
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