Constraint on a vector in a joint frame to be parallel to a vector given in world frame. More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikParallelConstraint.h>
Public Member Functions | |
virtual void | localVector (const vector3d &inVector)=0 |
Set the vector ![]() | |
virtual const vector3d & | localVector ()=0 |
Get the vector associated to the constraint (in joint's local frame). | |
virtual void | targetVector (const vector3d &inVector)=0 |
Set the target vector ![]() | |
virtual const vector3d & | targetVector ()=0 |
Get the target vector associated to the constraint. |
Constraint on a vector in a joint frame to be parallel to a vector given in world frame.
The constraint is defined by the following equation:
where
virtual void CjrlGikParallelConstraint::localVector | ( | const vector3d & | inVector | ) | [pure virtual] |
Set the vector associated to the constraint (in joint's local frame).
virtual const vector3d& CjrlGikParallelConstraint::localVector | ( | ) | [pure virtual] |
Get the vector associated to the constraint (in joint's local frame).
virtual void CjrlGikParallelConstraint::targetVector | ( | const vector3d & | inVector | ) | [pure virtual] |
Set the target vector associated to the constraint.
virtual const vector3d& CjrlGikParallelConstraint::targetVector | ( | ) | [pure virtual] |
Get the target vector associated to the constraint.