#include "hpp/gik/motionplanner/element/zmp-shift-element.hh"
#include "hpp/gik/motionplanner/element/foot-displace-element.hh"
Classes | |
class | ChppGikStepElement |
This 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. More... |