Specify a full or partial position constraint on the center of mass. More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikComConstraint.h>
Public Member Functions | |
virtual void | targetXY (double inX, double inY)=0 |
Set a constraint on Xcom and Ycom (in world's frame). | |
virtual void | targetXYZ (const vectorN &inTarget)=0 |
Set constraint on x,y,z of com (in world's frame). | |
virtual const vectorN & | worldTarget ()=0 |
Get the target point associated to the constraint (in world's frame). |
Specify a full or partial position constraint on the center of mass.
Default target position is two-dimensional and is defined by X and Y in world frame.
virtual void CjrlGikComConstraint::targetXY | ( | double | inX, |
double | inY | ||
) | [pure virtual] |
Set a constraint on Xcom and Ycom (in world's frame).
virtual void CjrlGikComConstraint::targetXYZ | ( | const vectorN & | inTarget | ) | [pure virtual] |
Set constraint on x,y,z of com (in world's frame).
virtual const vectorN& CjrlGikComConstraint::worldTarget | ( | ) | [pure virtual] |
Get the target point associated to the constraint (in world's frame).
Returned vector can be either 2D or 3D depending on assigned target