Constraint on a line segment attached to a body to be aligned with a given point in the world frame. More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikPointingConstraint.h>
Public Member Functions | |
virtual void | localOrigin (const vector3d &inPoint)=0 |
Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint). | |
virtual const vector3d & | localOrigin ()=0 |
Get the origin of the pointing vector. | |
virtual void | localVector (const vector3d &inPoint)=0 |
Set the pointing vector in joint's local frame (illelgal operation for gaze constraint). | |
virtual const vector3d & | localVector ()=0 |
Set the pointing vector 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 line segment attached to a body to be aligned with a given point in the world frame.
The line segment is defined by an origin point and a vector both given in the body's local frame.
virtual void CjrlGikPointingConstraint::localOrigin | ( | const vector3d & | inPoint | ) | [pure virtual] |
Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint).
Implemented in CjrlGikGazeConstraint.
virtual const vector3d& CjrlGikPointingConstraint::localOrigin | ( | ) | [pure virtual] |
Get the origin of the pointing vector.
virtual void CjrlGikPointingConstraint::localVector | ( | const vector3d & | inPoint | ) | [pure virtual] |
Set the pointing vector in joint's local frame (illelgal operation for gaze constraint).
Implemented in CjrlGikGazeConstraint.
virtual const vector3d& CjrlGikPointingConstraint::localVector | ( | ) | [pure virtual] |
Set the pointing vector in joint's local frame.
virtual void CjrlGikPointingConstraint::worldTarget | ( | const vector3d & | inPoint | ) | [pure virtual] |
Set the target point associated to the constraint (in world's frame).
virtual const vector3d& CjrlGikPointingConstraint::worldTarget | ( | ) | [pure virtual] |
Get the target point associated to the constraint (in world's frame).