ChppGikPrioritizedMotion organizer. More...
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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... | |
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.