State Constraints | Various objects implementing abstract class CjrlGikStateConstraint |
Prioritized State Constraints Solvers | For solving prioritized linear systems given by CjrlGikStateConstraint objects |
Prioritized Motions | Various objects implementing abstract class ChppGikPrioritizedMotion |
Prioritized Motions Plan | ChppGikPrioritizedMotion organizer |
Prioritized Motions Solver | Compute a whole body joint motion ( ChppRobotMotion object ) according to entered ChppGikPrioritizedMotion objects and/or ChppGikLocomotionElement objects |
Dedicated Tasks | Dedicated Tasks are whole body joint motion planners for specific cases |
Robot | Additional information describing a Humnoid biped robot state |
Tools | Various mathematical function used in this packages are regrouped here |
Abstract [external] | |
Boost [external] | |
Vector package [external] | |
Matrix package [external] |