CjrlGikParallelConstraint Class Reference

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>

Inheritance diagram for CjrlGikParallelConstraint:
Collaboration diagram for CjrlGikParallelConstraint:

List of all members.

Public Member Functions

virtual void localVector (const vector3d &inVector)=0
 Set the vector $\vec{R}$ associated to the constraint (in joint's local frame).
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 $\vec{R}_T$ associated to the constraint.
virtual const vector3d & targetVector ()=0
 Get the target vector associated to the constraint.

Detailed Description

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:

\begin{eqnarray*} \vec{R}\times \vec{R}_T = 0 \end{eqnarray*}

where

  • $\vec{R}$ is a vector in the joint frame (specified in the joint's local frame).
  • $\vec{R}_T$ is a vector in the global frame.

Member Function Documentation

virtual void CjrlGikParallelConstraint::localVector ( const vector3d &  inVector) [pure virtual]

Set the vector $\vec{R}$ 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 $\vec{R}_T$ associated to the constraint.

virtual const vector3d& CjrlGikParallelConstraint::targetVector ( ) [pure virtual]

Get the target vector associated to the constraint.