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>
Public Member Functions | |
virtual void | localPoint (const vector3d &inPoint)=0 |
Set the point ![]() | |
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 ![]() | |
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 ![]() | |
virtual const vector3d & | worldPlaneNormal ()=0 |
Get the normal of the defined plane (in world's frame). |
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:
where
virtual void CjrlGikPlaneConstraint::localPoint | ( | const vector3d & | inPoint | ) | [pure virtual] |
Set the point 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 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 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).