Prioritized Motions

Various objects implementing abstract class ChppGikPrioritizedMotion. More...

Classes

class  ChppGikFootDisplaceElement
 A locomotion element for displacing a foot to the given footprint. More...
 
class  ChppGikInterpolatedElement
 An object that plans a motion a constraint based on a given target constraint. More...
 
class  ChppGikReadyElement
 CjrlMotionConstraint + priority + working joints. More...
 
class  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. More...
 
class  ChppGikWalkElement
 This is motion planner for a walk (multiple steps) More...
 
class  ChppGikZMPshiftElement
 A locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon. More...
 

Detailed Description

Various objects implementing abstract class ChppGikPrioritizedMotion.