CjrlGikGazeConstraint Class Reference

This is a PointingConstraint whose joint is the humanoid robot's gaze joint. More...

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

Inheritance diagram for CjrlGikGazeConstraint:
Collaboration diagram for CjrlGikGazeConstraint:

List of all members.

Public Member Functions

virtual void joint (CjrlJoint *inJoint)
 Set the joint associated to the constraint (should be an illelgal operation for gaze constraint).
virtual void localOrigin (const vector3d &inPoint)
 Set the origin of the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).
virtual void localVector (const vector3d &inPoint)
 Set the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).

Detailed Description

This is a PointingConstraint whose joint is the humanoid robot's gaze joint.

Only the target point in the world is provided.


Member Function Documentation

virtual void CjrlGikGazeConstraint::joint ( CjrlJoint *  inJoint) [inline, virtual]

Set the joint associated to the constraint (should be an illelgal operation for gaze constraint).

Implements CjrlGikJointStateConstraint.

virtual void CjrlGikGazeConstraint::localOrigin ( const vector3d &  inPoint) [inline, virtual]

Set the origin of the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).

Implements CjrlGikPointingConstraint.

virtual void CjrlGikGazeConstraint::localVector ( const vector3d &  inPoint) [inline, virtual]

Set the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).

Implements CjrlGikPointingConstraint.