ChppGik2DShape | |
ChppGik2DVertex | |
ChppGikBody | A rigid body |
ChppGikComConstraint | Specify a full or partial position constraint on the center of mass |
ChppGikComMotion | A motion that return a constraint composed of a Com and a Foot transformation |
ChppGikConfigurationConstraint | Specify a full or partial configuration constraint |
ChppGikFootDisplaceElement | A locomotion element for displacing a foot to the given footprint |
ChppGikFootprint | This object describes a footprint on a flat floor, by its (x,y) position and its rotation in world frame |
ChppGikGazeConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
ChppGikGenericTask | This object produces whole body joint motion based on entered "elements".These elements are cartesian motion planners of class ChppGikPrioritizedMotion or class ChppGikLocomotionElement |
ChppGikHalfSittingTask | This robot task consists in going back to half-sitting stance |
ChppGikHandTask | This is a robot hand task |
ChppGikInterpolatedElement | An object that plans a motion a constraint based on a given target constraint |
ChppGikJointStateConstraint | Implementation of some commom functions in CjrlGikJointStateConstraint |
ChppGikLinkedVertex | Chained list element |
ChppGikLocomotionData | |
ChppGikLocomotionElement | A 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 |
ChppGikLocomotionPlan | This is a locomotion plan for objects of type ChppGikLocomotionElement |
ChppGikMaskFactory | Build some joint masks and weighting vectors for the GIK solver |
ChppGikMetaTask | This is a robot task composed of a sequence of robot tasks |
ChppGikMotionConstraint | In this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor |
ChppGikMotionPlan | The Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects |
ChppGikMotionPlanColumn | A motion plan column is a column of motion elements inside a motion plan |
ChppGikMotionPlanElement | Use this to concatenate several CjrlGikStateConstraint objects |
ChppGikMotionPlanRow | A "motion row" is a container for motion constraints that share the same priority |
ChppGikNoLocomotion | A motion that return a constraint composed of a Com and a Foot transformation |
ChppGikParallelConstraint | Specify a 2D orientation constraint on a body of the robot |
ChppGikPlaneConstraint | Description of a constraint that limits the position of a point of the robot to a given plan |
ChppGikPointingConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
ChppGikPositionConstraint | Specify a 3D position constraint on a point of the robot |
ChppGikPreviewController | |
ChppGikPrioritizedMotion | Store a pointer to a CjrlGikMotionConstraint and additional information |
ChppGikPrioritizedStateConstraint | |
ChppGikReachTask | Use this task to make the robot reach for a target |
ChppGikReadyElement | CjrlMotionConstraint + priority + working joints |
ChppGikRelativeComConstraint | Specify a relative position constraint on the center of mass |
ChppGikRelativeTransformationConstraint | Specify a transformation constraint on a joint of the robot, relatively to another joint |
ChppGikRobotTask | Abstract class of an object that produces a ChppRobotMotion through a method ChppGikRobotTask::solve() |
ChppGikRotationConstraint | Specify a 3D orientation constraint on a body of the robot |
ChppGikSolver | Compute the joints updates for a hierarchy of simultaneous tasks |
ChppGikSolverBasic | This is a prioritized inverse kinematics solver |
ChppGikSolverLNE | |
ChppGikStandingRobot | Wrapper for a jrlHumanoidDynamicRobot, support polygon and related information |
ChppGikStepBackTask | This is a task to make the robot step back to have his feet parallel and symmetrical |
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 |
ChppGikStepTarget | This is a step target with information on the moving foot |
ChppGikStepTask | This is a task to make the robot do a single step |
ChppGikSupportPolygon | This is a support polygon class |
ChppGikTools | |
ChppGikTransformationConstraint | Specify a 3D position constraint on a point of the robot |
ChppGikVectorizableConstraint | |
ChppGikWalkElement | This is motion planner for a walk (multiple steps) |
ChppGikWholeBodyTask | Implementation of the Humanoid2006 papers by E.Yoshida |
ChppGikZMPshiftElement | A locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon |
ChppRobotMotion | Defines the motion of a robot along time |
ChppRobotMotionSample | This is a stored robot motion sample |