Prioritized Motions Plan

ChppGikPrioritizedMotion organizer. More...

Collaboration diagram for Prioritized Motions Plan:

Classes

class  ChppGikMotionPlanColumn
 A motion plan column is a column of motion elements inside a motion plan. More...
 
class  ChppGikMotionPlanElement
 Use this to concatenate several CjrlGikStateConstraint objects. More...
 
class  ChppGikMotionPlanRow
 A "motion row" is a container for motion constraints that share the same priority. More...
 
class  ChppGikMotionPlan
 The Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects. More...
 
class  ChppGikPrioritizedMotion
 Store a pointer to a CjrlGikMotionConstraint and additional information. More...
 

Detailed Description

ChppGikPrioritizedMotion organizer.

The Motion Plan contains references to ChppGikPrioritizedMotion objects, organized by descending priority in motion plan rows. References to ChppGikPrioritizedMotion are stacked according to their priority.
A ChppGikMotionPlan is equivalent to a matrix of ChppGikMotionPlanElement objects.
A ChppGikMotionPlanElement is a container for CjrlGikStateConstraint objects that share the same priority.
A ChppGikMotionPlanRow is a container for ChppGikPrioritizedMotion that share the same priority, so the horizontal direction is for time progression.
A ChppGikMotionPlanColumn is a container for all the ChppGikMotionPlanElement objects that can be collected at a given time. The vertical direction stacks the constaints at a given time.

This module was originally intended for internal use.