Dedicated Tasks

Dedicated Tasks are whole body joint motion planners for specific cases. More...

Classes

class  ChppGikHalfSittingTask
 This robot task consists in going back to half-sitting stance. More...
class  ChppGikHandTask
 This is a robot hand task. More...
class  ChppGikMetaTask
 This is a robot task composed of a sequence of robot tasks. More...
class  ChppGikReachTask
 Use this task to make the robot reach for a target. More...
class  ChppGikRobotTask
 Abstract class of an object that produces a ChppRobotMotion through a method ChppGikRobotTask::solve() More...
class  ChppGikStepBackTask
 This is a task to make the robot step back to have his feet parallel and symmetrical. More...
class  ChppGikStepTask
 This is a task to make the robot do a single step. More...
class  ChppGikWholeBodyTask
 Implementation of the Humanoid2006 papers by E.Yoshida. More...

Detailed Description

Dedicated Tasks are whole body joint motion planners for specific cases.

For example, a ChppGikReachTask will produce reaching motion for a humanoid robot, possibly involving a step, based on a target's cartesian position and a few more option specifications. Dedicated tasks derive from Abstract class ChppGikRobotTask.