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:

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