CChppGik2DShape | |
CChppGik2DVertex | |
CChppGikBody | A rigid body |
CChppGikFootprint | This object describes a footprint on a flat floor, by its (x,y) position and its rotation in world frame |
CChppGikLinkedVertex | Chained list element |
CChppGikLocomotionData | |
CChppGikLocomotionPlan | This is a locomotion plan for objects of type ChppGikLocomotionElement |
CChppGikMaskFactory | Build some joint masks and weighting vectors for the GIK solver |
CChppGikMotionPlan | The Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects |
CChppGikMotionPlanColumn | A motion plan column is a column of motion elements inside a motion plan |
CChppGikMotionPlanRow | A "motion row" is a container for motion constraints that share the same priority |
CChppGikPreviewController | |
▼CChppGikPrioritizedMotion | Store a pointer to a CjrlGikMotionConstraint and additional information |
CChppGikComMotion | A motion that return a constraint composed of a Com and a Foot transformation |
CChppGikInterpolatedElement | An object that plans a motion a constraint based on a given target constraint |
▼CChppGikLocomotionElement | 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 |
CChppGikFootDisplaceElement | A locomotion element for displacing a foot to the given footprint |
CChppGikStepElement | 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 |
CChppGikWalkElement | This is motion planner for a walk (multiple steps) |
CChppGikZMPshiftElement | A locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon |
CChppGikNoLocomotion | A motion that return a constraint composed of a Com and a Foot transformation |
CChppGikReadyElement | CjrlMotionConstraint + priority + working joints |
CChppGikPrioritizedStateConstraint | |
▼CChppGikRobotTask | Abstract class of an object that produces a ChppRobotMotion through a method ChppGikRobotTask::solve() |
CChppGikGenericTask | This object produces whole body joint motion based on entered "elements".These elements are cartesian motion planners of class ChppGikPrioritizedMotion or class ChppGikLocomotionElement |
CChppGikHalfSittingTask | This robot task consists in going back to half-sitting stance |
CChppGikHandTask | This is a robot hand task |
CChppGikMetaTask | This is a robot task composed of a sequence of robot tasks |
CChppGikReachTask | Use this task to make the robot reach for a target |
CChppGikStepBackTask | This is a task to make the robot step back to have his feet parallel and symmetrical |
CChppGikStepTask | This is a task to make the robot do a single step |
CChppGikWholeBodyTask | Implementation of the Humanoid2006 papers by E.Yoshida |
CChppGikSolver | Compute the joints updates for a hierarchy of simultaneous tasks |
CChppGikSolverBasic | This is a prioritized inverse kinematics solver |
CChppGikSolverLNE | |
CChppGikStandingRobot | Wrapper for a jrlHumanoidDynamicRobot, support polygon and related information |
CChppGikStepTarget | This is a step target with information on the moving foot |
CChppGikSupportPolygon | This is a support polygon class |
CChppGikTools | |
CChppRobotMotion | Defines the motion of a robot along time |
CChppRobotMotionSample | This is a stored robot motion sample |
▼CCjrlGikMotionConstraint [external] | |
CChppGikComMotion | A motion that return a constraint composed of a Com and a Foot transformation |
CChppGikInterpolatedElement | An object that plans a motion a constraint based on a given target constraint |
CChppGikLocomotionElement | 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 |
CChppGikMotionConstraint | In this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor |
CChppGikNoLocomotion | A motion that return a constraint composed of a Com and a Foot transformation |
▼CCjrlLinearConstraint [external] | |
▼CCjrlGikStateConstraint [external] | |
CChppGikMotionPlanElement | Use this to concatenate several CjrlGikStateConstraint objects |
▼CChppGikVectorizableConstraint | |
CChppGikConfigurationConstraint | Specify a full or partial configuration constraint |
CChppGikParallelConstraint | Specify a 2D orientation constraint on a body of the robot |
CChppGikPlaneConstraint | Description of a constraint that limits the position of a point of the robot to a given plan |
▼CChppGikPointingConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
CChppGikGazeConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
CChppGikPositionConstraint | Specify a 3D position constraint on a point of the robot |
CChppGikRotationConstraint | Specify a 3D orientation constraint on a body of the robot |
▼CChppGikTransformationConstraint | Specify a 3D position constraint on a point of the robot |
CChppGikRelativeTransformationConstraint | Specify a transformation constraint on a joint of the robot, relatively to another joint |
▼CCjrlGikComConstraint [external] | |
▼CChppGikComConstraint | Specify a full or partial position constraint on the center of mass |
CChppGikRelativeComConstraint | Specify a relative position constraint on the center of mass |
▼CCjrlGikJointStateConstraint [external] | |
▼CChppGikJointStateConstraint | Implementation of some commom functions in CjrlGikJointStateConstraint |
CChppGikParallelConstraint | Specify a 2D orientation constraint on a body of the robot |
CChppGikPlaneConstraint | Description of a constraint that limits the position of a point of the robot to a given plan |
CChppGikPointingConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
CChppGikPositionConstraint | Specify a 3D position constraint on a point of the robot |
CChppGikRotationConstraint | Specify a 3D orientation constraint on a body of the robot |
CChppGikTransformationConstraint | Specify a 3D position constraint on a point of the robot |
▼CCjrlGikParallelConstraint [external] | |
CChppGikParallelConstraint | Specify a 2D orientation constraint on a body of the robot |
▼CCjrlGikPlaneConstraint [external] | |
CChppGikPlaneConstraint | Description of a constraint that limits the position of a point of the robot to a given plan |
▼CCjrlGikPointingConstraint [external] | |
CChppGikPointingConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
▼CCjrlGikGazeConstraint [external] | |
CChppGikGazeConstraint | Constraint on a line segment attached to a body to be aligned with a given point in the world frame |
▼CCjrlGikPositionConstraint [external] | |
CChppGikPositionConstraint | Specify a 3D position constraint on a point of the robot |
▼CCjrlGikRotationConstraint [external] | |
CChppGikRotationConstraint | Specify a 3D orientation constraint on a body of the robot |
▼CCjrlGikTransformationConstraint [external] | |
CChppGikTransformationConstraint | Specify a 3D position constraint on a point of the robot |