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>
Public Member Functions | |
virtual CjrlDynamicRobot * | robot ()=0 |
Get a pointer to associated robot. | |
virtual CjrlGikMotionConstraint * | clone () const =0 |
Clone constructor. | |
virtual CjrlGikStateConstraint * | stateConstraintAtTime (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. |
Define the evolution of a state constraint along time.
virtual CjrlGikMotionConstraint::~CjrlGikMotionConstraint | ( | ) | [inline, virtual] |
Destructor.
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.