CjrlGikPlaneConstraint Class Reference

Description of a constraint that limits the position of a point of the robot to a given plan. More...

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

Inheritance diagram for CjrlGikPlaneConstraint:
Collaboration diagram for CjrlGikPlaneConstraint:

List of all members.

Public Member Functions

virtual void localPoint (const vector3d &inPoint)=0
 Set the point $M$ associated to the constraint.
virtual const vector3d & localPoint ()=0
 Get the point associated to the constraint (in joint's local frame).
virtual void worldPlanePoint (const vector3d &inPoint)=0
 Set a point $T$ of the target plane (in world's frame).
virtual const vector3d & worldPlanePoint ()=0
 Get the point of the defined plane (in world's frame).
virtual void worldPlaneNormal (const vector3d &inPoint)=0
 Set the normal $\vec{u}$ of the target plane (in world's frame).
virtual const vector3d & worldPlaneNormal ()=0
 Get the normal of the defined plane (in world's frame).

Detailed Description

Description of a constraint that limits the position of a point of the robot to a given plan.

The constraint is defined by the following equation:

\begin{eqnarray*} \left(\vec{MT} | \vec{u}\right) = 0 \end{eqnarray*}

where

  • $ M$ is a point attached to the joint (specified in the joint's local frame).
  • $ T$ is a point in the environment,
  • $\vec{u}$ is a vector defining the normal to the task plane.

Member Function Documentation

virtual void CjrlGikPlaneConstraint::localPoint ( const vector3d &  inPoint) [pure virtual]

Set the point $M$ associated to the constraint.

virtual const vector3d& CjrlGikPlaneConstraint::localPoint ( ) [pure virtual]

Get the point associated to the constraint (in joint's local frame).

virtual void CjrlGikPlaneConstraint::worldPlaneNormal ( const vector3d &  inPoint) [pure virtual]

Set the normal $\vec{u}$ of the target plane (in world's frame).

virtual const vector3d& CjrlGikPlaneConstraint::worldPlaneNormal ( ) [pure virtual]

Get the normal of the defined plane (in world's frame).

virtual void CjrlGikPlaneConstraint::worldPlanePoint ( const vector3d &  inPoint) [pure virtual]

Set a point $T$ of the target plane (in world's frame).

virtual const vector3d& CjrlGikPlaneConstraint::worldPlanePoint ( ) [pure virtual]

Get the point of the defined plane (in world's frame).