CjrlGikMotionConstraint Class Reference

Define the evolution of a state constraint along time. More...

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

List of all members.

Public Member Functions

virtual CjrlDynamicRobot * robot ()=0
 Get a pointer to associated robot.
virtual CjrlGikMotionConstraintclone () const =0
 Clone constructor.
virtual CjrlGikStateConstraintstateConstraintAtTime (double inTime)=0
 Get state constraint at a given time.
virtual void startTime (double inStartTime)=0
 Set lower bound of definition interval.
virtual double startTime ()=0
 Get lower bound of definition interval.
virtual double endTime ()=0
 Get upper bound of definition interval.
virtual ~CjrlGikMotionConstraint ()
 Destructor.

Detailed Description

Define the evolution of a state constraint along time.


Constructor & Destructor Documentation

virtual CjrlGikMotionConstraint::~CjrlGikMotionConstraint ( ) [inline, virtual]

Destructor.


Member Function Documentation

virtual CjrlGikMotionConstraint* CjrlGikMotionConstraint::clone ( ) const [pure virtual]

Clone constructor.

virtual double CjrlGikMotionConstraint::endTime ( ) [pure virtual]

Get upper bound of definition interval.

virtual CjrlDynamicRobot* CjrlGikMotionConstraint::robot ( ) [pure virtual]

Get a pointer to associated robot.

virtual void CjrlGikMotionConstraint::startTime ( double  inStartTime) [pure virtual]

Set lower bound of definition interval.

virtual double CjrlGikMotionConstraint::startTime ( ) [pure virtual]

Get lower bound of definition interval.

virtual CjrlGikStateConstraint* CjrlGikMotionConstraint::stateConstraintAtTime ( double  inTime) [pure virtual]

Get state constraint at a given time.