Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
 CChppGik2DShape
 CChppGik2DVertex
 CChppGikBodyA rigid body
 CChppGikComConstraintSpecify a full or partial position constraint on the center of mass
 CChppGikComMotionA motion that return a constraint composed of a Com and a Foot transformation
 CChppGikConfigurationConstraintSpecify a full or partial configuration constraint
 CChppGikFootDisplaceElementA locomotion element for displacing a foot to the given footprint
 CChppGikFootprintThis object describes a footprint on a flat floor, by its (x,y) position and its rotation in world frame
 CChppGikGazeConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
 CChppGikGenericTaskThis object produces whole body joint motion based on entered "elements".These elements are cartesian motion planners of class ChppGikPrioritizedMotion or class ChppGikLocomotionElement
 CChppGikHalfSittingTaskThis robot task consists in going back to half-sitting stance
 CChppGikHandTaskThis is a robot hand task
 CChppGikInterpolatedElementAn object that plans a motion a constraint based on a given target constraint
 CChppGikJointStateConstraintImplementation of some commom functions in CjrlGikJointStateConstraint
 CChppGikLinkedVertexChained list element
 CChppGikLocomotionData
 CChppGikLocomotionElementA 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
 CChppGikLocomotionPlanThis is a locomotion plan for objects of type ChppGikLocomotionElement
 CChppGikMaskFactoryBuild some joint masks and weighting vectors for the GIK solver
 CChppGikMetaTaskThis is a robot task composed of a sequence of robot tasks
 CChppGikMotionConstraintIn this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor
 CChppGikMotionPlanThe Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects
 CChppGikMotionPlanColumnA motion plan column is a column of motion elements inside a motion plan
 CChppGikMotionPlanElementUse this to concatenate several CjrlGikStateConstraint objects
 CChppGikMotionPlanRowA "motion row" is a container for motion constraints that share the same priority
 CChppGikNoLocomotionA motion that return a constraint composed of a Com and a Foot transformation
 CChppGikParallelConstraintSpecify a 2D orientation constraint on a body of the robot
 CChppGikPlaneConstraintDescription of a constraint that limits the position of a point of the robot to a given plan
 CChppGikPointingConstraintConstraint on a line segment attached to a body to be aligned with a given point in the world frame
 CChppGikPositionConstraintSpecify a 3D position constraint on a point of the robot
 CChppGikPreviewController
 CChppGikPrioritizedMotionStore a pointer to a CjrlGikMotionConstraint and additional information
 CChppGikPrioritizedStateConstraint
 CChppGikReachTaskUse this task to make the robot reach for a target
 CChppGikReadyElementCjrlMotionConstraint + priority + working joints
 CChppGikRelativeComConstraintSpecify a relative position constraint on the center of mass
 CChppGikRelativeTransformationConstraintSpecify a transformation constraint on a joint of the robot, relatively to another joint
 CChppGikRobotTaskAbstract class of an object that produces a ChppRobotMotion through a method ChppGikRobotTask::solve()
 CChppGikRotationConstraintSpecify a 3D orientation constraint on a body of the robot
 CChppGikSolverCompute the joints updates for a hierarchy of simultaneous tasks
 CChppGikSolverBasicThis is a prioritized inverse kinematics solver
 CChppGikSolverLNE
 CChppGikStandingRobotWrapper for a jrlHumanoidDynamicRobot, support polygon and related information
 CChppGikStepBackTaskThis is a task to make the robot step back to have his feet parallel and symmetrical
 CChppGikStepElementThis 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
 CChppGikStepTargetThis is a step target with information on the moving foot
 CChppGikStepTaskThis is a task to make the robot do a single step
 CChppGikSupportPolygonThis is a support polygon class
 CChppGikTools
 CChppGikTransformationConstraintSpecify a 3D position constraint on a point of the robot
 CChppGikVectorizableConstraint
 CChppGikWalkElementThis is motion planner for a walk (multiple steps)
 CChppGikWholeBodyTaskImplementation of the Humanoid2006 papers by E.Yoshida
 CChppGikZMPshiftElementA locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon
 CChppRobotMotionDefines the motion of a robot along time
 CChppRobotMotionSampleThis is a stored robot motion sample