CjrlGikComConstraint Class Reference

Specify a full or partial position constraint on the center of mass. More...

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

Inheritance diagram for CjrlGikComConstraint:
Collaboration diagram for CjrlGikComConstraint:

List of all members.

Public Member Functions

virtual void targetXY (double inX, double inY)=0
 Set a constraint on Xcom and Ycom (in world's frame).
virtual void targetXYZ (const vectorN &inTarget)=0
 Set constraint on x,y,z of com (in world's frame).
virtual const vectorN & worldTarget ()=0
 Get the target point associated to the constraint (in world's frame).

Detailed Description

Specify a full or partial position constraint on the center of mass.

Default target position is two-dimensional and is defined by X and Y in world frame.


Member Function Documentation

virtual void CjrlGikComConstraint::targetXY ( double  inX,
double  inY 
) [pure virtual]

Set a constraint on Xcom and Ycom (in world's frame).

virtual void CjrlGikComConstraint::targetXYZ ( const vectorN &  inTarget) [pure virtual]

Set constraint on x,y,z of com (in world's frame).

virtual const vectorN& CjrlGikComConstraint::worldTarget ( ) [pure virtual]

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

Returned vector can be either 2D or 3D depending on assigned target