CCjrlGikMotionConstraint | Define the evolution of a state constraint along time |
CCjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint > | |
▼CCjrlLinearConstraint | A linear constraint is an object that returns a m-by-n matrix and an m-vector defining a linear system of equality of inequality constraints (determined by context) |
▼CCjrlGikStateConstraint | Specify a linear constraint over the state of a humanoid robot |
CCjrlGikComConstraint | Specify a full or partial position constraint on the center of mass |
▼CCjrlGikJointStateConstraint | Specify a Constraint over the state of a joint in a humanoid robot |
CCjrlGikParallelConstraint | Constraint on a vector in a joint frame to be parallel to a vector given in world frame |
CCjrlGikPlaneConstraint | Description of a constraint that limits the position of a point of the robot to a given plan |
▼CCjrlGikPointingConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
CCjrlGikGazeConstraint | This is a PointingConstraint whose joint is the humanoid robot's gaze joint |
CCjrlGikPositionConstraint | Constraint on a point in a joint to be at a 3D position in the world frame |
CCjrlGikRotationConstraint | Constraint on the orientation matrix of a joint to change to a given orientation matrix |
CCjrlGikTransformationConstraint | Specify a position and orientation constraint on a body of the robot |
CCjrlRobotMotion | Defines the motion of a robot along time |