hpp::core::ConstraintSet Class Reference

Set of constraints applicable to a robot configuration. More...

#include <hpp/core/constraint-set.hh>

Inheritance diagram for hpp::core::ConstraintSet:
Collaboration diagram for hpp::core::ConstraintSet:

List of all members.

Public Member Functions

void addConstraint (const ConstraintPtr_t &constraint)
 Add a constraint to the set.
const ConfigProjectorPtr_tconfigProjector () 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.

Detailed Description

Set of constraints applicable to a robot configuration.

Warning:
If the set is to contain a ConfigProjector and several LockedJoint instances, the configProjector should be inserted first since following numerical projections might affect locked degrees of freedom.

Member Typedef Documentation


Constructor & Destructor Documentation

hpp::core::ConstraintSet::ConstraintSet ( const DevicePtr_t robot,
const std::string &  name 
) [protected]

Member Function Documentation

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]

Store weak pointer to itself.

References hpp::core::Constraint::init().

Referenced by create().

bool hpp::core::ConstraintSet::isSatisfied ( ConfigurationIn_t  config) [virtual]

Check whether a configuration statisfies the constraint.

Implements hpp::core::Constraint.