CjrlGikTransformationConstraint Class Reference

Specify a position and orientation constraint on a body of the robot. More...

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

Inheritance diagram for CjrlGikTransformationConstraint:
Collaboration diagram for CjrlGikTransformationConstraint:

List of all members.

Public Member Functions

virtual void localPoint (const vector3d &inPoint)=0
 Set the point (in joint's local frame) associated to the constraint.
virtual const vector3d & localPoint ()=0
 Get the point associated to the constraint (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).
virtual void targetOrientation (const matrix3d &inRot)=0
 Set the target orientation for this constraint.
virtual const matrix3d & targetOrientation ()=0
 Get the target orientation.
virtual void targetTransformation (const matrix4d &inTransform)=0
 Set the target transformation for this constraint.
virtual const matrix4d & targetTransformation ()=0
 Get the target transformation.

Detailed Description

Specify a position and orientation constraint on a body of the robot.


Member Function Documentation

virtual void CjrlGikTransformationConstraint::localPoint ( const vector3d &  inPoint) [pure virtual]

Set the point (in joint's local frame) associated to the constraint.

virtual const vector3d& CjrlGikTransformationConstraint::localPoint ( ) [pure virtual]

Get the point associated to the constraint (in joint's local frame).

virtual void CjrlGikTransformationConstraint::targetOrientation ( const matrix3d &  inRot) [pure virtual]

Set the target orientation for this constraint.

virtual const matrix3d& CjrlGikTransformationConstraint::targetOrientation ( ) [pure virtual]

Get the target orientation.

virtual void CjrlGikTransformationConstraint::targetTransformation ( const matrix4d &  inTransform) [pure virtual]

Set the target transformation for this constraint.

virtual const matrix4d& CjrlGikTransformationConstraint::targetTransformation ( ) [pure virtual]

Get the target transformation.

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

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

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

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