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