CjrlGikPointingConstraint Class Reference

Constraint on a line segment attached to a body to be aligned with a given point in the world frame. More...

#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikPointingConstraint.h>

Inheritance diagram for CjrlGikPointingConstraint:
Collaboration diagram for CjrlGikPointingConstraint:

List of all members.

Public Member Functions

virtual void localOrigin (const vector3d &inPoint)=0
 Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint).
virtual const vector3d & localOrigin ()=0
 Get the origin of the pointing vector.
virtual void localVector (const vector3d &inPoint)=0
 Set the pointing vector in joint's local frame (illelgal operation for gaze constraint).
virtual const vector3d & localVector ()=0
 Set the pointing vector in joint's local frame.
virtual void worldTarget (const vector3d &inPoint)=0
 Set the target point associated to the constraint (in world's frame).
virtual const vector3d & worldTarget ()=0
 Get the target point associated to the constraint (in world's frame).

Detailed Description

Constraint on a line segment attached to a body to be aligned with a given point in the world frame.

The line segment is defined by an origin point and a vector both given in the body's local frame.


Member Function Documentation

virtual void CjrlGikPointingConstraint::localOrigin ( const vector3d &  inPoint) [pure virtual]

Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint).

Implemented in CjrlGikGazeConstraint.

virtual const vector3d& CjrlGikPointingConstraint::localOrigin ( ) [pure virtual]

Get the origin of the pointing vector.

virtual void CjrlGikPointingConstraint::localVector ( const vector3d &  inPoint) [pure virtual]

Set the pointing vector in joint's local frame (illelgal operation for gaze constraint).

Implemented in CjrlGikGazeConstraint.

virtual const vector3d& CjrlGikPointingConstraint::localVector ( ) [pure virtual]

Set the pointing vector in joint's local frame.

virtual void CjrlGikPointingConstraint::worldTarget ( const vector3d &  inPoint) [pure virtual]

Set the target point associated to the constraint (in world's frame).

virtual const vector3d& CjrlGikPointingConstraint::worldTarget ( ) [pure virtual]

Get the target point associated to the constraint (in world's frame).