CjrlGikRotationConstraint Class Reference

Constraint on the orientation matrix of a joint to change to a given orientation matrix. More...

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

Inheritance diagram for CjrlGikRotationConstraint:
Collaboration diagram for CjrlGikRotationConstraint:

List of all members.

Public Member Functions

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

Detailed Description

Constraint on the orientation matrix of a joint to change to a given orientation matrix.


Member Function Documentation

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

Set the target orientation for this constraint.

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

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