Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
ChppGik2DShape
ChppGik2DVertex
ChppGikBodyA rigid body
ChppGikComConstraintSpecify a full or partial position constraint on the center of mass
ChppGikComMotionA motion that return a constraint composed of a Com and a Foot transformation
ChppGikConfigurationConstraintSpecify a full or partial configuration constraint
ChppGikFootDisplaceElementA locomotion element for displacing a foot to the given footprint
ChppGikFootprintThis object describes a footprint on a flat floor, by its (x,y) position and its rotation in world frame
ChppGikGazeConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
ChppGikGenericTaskThis object produces whole body joint motion based on entered "elements".These elements are cartesian motion planners of class ChppGikPrioritizedMotion or class ChppGikLocomotionElement
ChppGikHalfSittingTaskThis robot task consists in going back to half-sitting stance
ChppGikHandTaskThis is a robot hand task
ChppGikInterpolatedElementAn object that plans a motion a constraint based on a given target constraint
ChppGikJointStateConstraintImplementation of some commom functions in CjrlGikJointStateConstraint
ChppGikLinkedVertexChained list element
ChppGikLocomotionData
ChppGikLocomotionElementA 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
ChppGikLocomotionPlanThis is a locomotion plan for objects of type ChppGikLocomotionElement
ChppGikMaskFactoryBuild some joint masks and weighting vectors for the GIK solver
ChppGikMetaTaskThis is a robot task composed of a sequence of robot tasks
ChppGikMotionConstraintIn this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor
ChppGikMotionPlanThe Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects
ChppGikMotionPlanColumnA motion plan column is a column of motion elements inside a motion plan
ChppGikMotionPlanElementUse this to concatenate several CjrlGikStateConstraint objects
ChppGikMotionPlanRowA "motion row" is a container for motion constraints that share the same priority
ChppGikNoLocomotionA motion that return a constraint composed of a Com and a Foot transformation
ChppGikParallelConstraintSpecify a 2D orientation constraint on a body of the robot
ChppGikPlaneConstraintDescription of a constraint that limits the position of a point of the robot to a given plan
ChppGikPointingConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
ChppGikPositionConstraintSpecify a 3D position constraint on a point of the robot
ChppGikPreviewController
ChppGikPrioritizedMotionStore a pointer to a CjrlGikMotionConstraint and additional information
ChppGikPrioritizedStateConstraint
ChppGikReachTaskUse this task to make the robot reach for a target
ChppGikReadyElementCjrlMotionConstraint + priority + working joints
ChppGikRelativeComConstraintSpecify a relative position constraint on the center of mass
ChppGikRelativeTransformationConstraintSpecify a transformation constraint on a joint of the robot, relatively to another joint
ChppGikRobotTaskAbstract class of an object that produces a ChppRobotMotion through a method ChppGikRobotTask::solve()
ChppGikRotationConstraintSpecify a 3D orientation constraint on a body of the robot
ChppGikSolverCompute the joints updates for a hierarchy of simultaneous tasks
ChppGikSolverBasicThis is a prioritized inverse kinematics solver
ChppGikSolverLNE
ChppGikStandingRobotWrapper for a jrlHumanoidDynamicRobot, support polygon and related information
ChppGikStepBackTaskThis is a task to make the robot step back to have his feet parallel and symmetrical
ChppGikStepElementThis 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
ChppGikStepTargetThis is a step target with information on the moving foot
ChppGikStepTaskThis is a task to make the robot do a single step
ChppGikSupportPolygonThis is a support polygon class
ChppGikTools
ChppGikTransformationConstraintSpecify a 3D position constraint on a point of the robot
ChppGikVectorizableConstraint
ChppGikWalkElementThis is motion planner for a walk (multiple steps)
ChppGikWholeBodyTaskImplementation of the Humanoid2006 papers by E.Yoshida
ChppGikZMPshiftElementA locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon
ChppRobotMotionDefines the motion of a robot along time
ChppRobotMotionSampleThis is a stored robot motion sample