Set of constraints applicable to a robot configuration. More...
#include <hpp/core/constraint-set.hh>
Public Member Functions | |
void | addConstraint (const ConstraintPtr_t &constraint) |
Add a constraint to the set. | |
const ConfigProjectorPtr_t & | configProjector () const |
Return pointer to config projector if any. | |
bool | isSatisfied (ConfigurationIn_t config) |
Check whether a configuration statisfies the constraint. | |
Static Public Member Functions | |
static ConstraintSetPtr_t | create (const DevicePtr_t &robot, const std::string &name) |
Return shared pointer to new object. | |
Protected Types | |
typedef std::deque < ConstraintPtr_t > | Constraints_t |
Protected Member Functions | |
ConstraintSet (const DevicePtr_t &robot, const std::string &name) | |
void | init (const ConstraintSetPtr_t &self) |
Store weak pointer to itself. | |
virtual bool | impl_compute (ConfigurationOut_t configuration) |
User defined implementation of the constraint. |
Set of constraints applicable to a robot configuration.
typedef std::deque<ConstraintPtr_t> hpp::core::ConstraintSet::Constraints_t [protected] |
hpp::core::ConstraintSet::ConstraintSet | ( | const DevicePtr_t & | robot, |
const std::string & | name | ||
) | [protected] |
void hpp::core::ConstraintSet::addConstraint | ( | const ConstraintPtr_t & | constraint | ) | [inline] |
Add a constraint to the set.
const ConfigProjectorPtr_t& hpp::core::ConstraintSet::configProjector | ( | ) | const [inline] |
Return pointer to config projector if any.
static ConstraintSetPtr_t hpp::core::ConstraintSet::create | ( | const DevicePtr_t & | robot, |
const std::string & | name | ||
) | [inline, static] |
Return shared pointer to new object.
References init().
virtual bool hpp::core::ConstraintSet::impl_compute | ( | ConfigurationOut_t | configuration | ) | [protected, virtual] |
User defined implementation of the constraint.
Implements hpp::core::Constraint.
void hpp::core::ConstraintSet::init | ( | const ConstraintSetPtr_t & | self | ) | [inline, protected] |
bool hpp::core::ConstraintSet::isSatisfied | ( | ConfigurationIn_t | config | ) | [virtual] |
Check whether a configuration statisfies the constraint.
Implements hpp::core::Constraint.