| Name | Description |
|---|
| InverseKinematic | The outputs are the six leg lengths required to have the input pose |
| CubicTrajectory | The outputs are the position and orientation of the platform to follow a line with a cubic eqution of motion |
| LinearTrajectory | The outputs are the position and orientation of the platform to follow a linear trajectory with constant speed |
| PartialTrajectoryModel | This model collects all the common parameters and interfaces of the trajectory models |
| Paths | Library of reference paths |
| StepTrajectory | Instant switch from initial pose to final pose |
| Switch | Switch between two or more Pose signals |
| Switch2 | Switch between two or more Pose signals, the definition of the swith times is not required |
| TrapezoidalTrajectory | The outputs are the position and orientation of the platform to follow a line with a trapezoidal velocity profile (constant orientation) |