CjrlGikPositionConstraint Class Reference

Constraint on a point in a joint to be at a 3D position in the world frame. More...

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

Inheritance diagram for CjrlGikPositionConstraint:
Collaboration diagram for CjrlGikPositionConstraint:

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).

Detailed Description

Constraint on a point in a joint to be at a 3D position in the world frame.


Member Function Documentation

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

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

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

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

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

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

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

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