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