Constraint applicable to a robot configuration. More...
#include <hpp/core/constraint.hh>
Public Member Functions | |
bool | apply (ConfigurationOut_t configuration) |
Function that applies the constraint. | |
const std::string & | name () const |
Get name of constraint. | |
virtual bool | isSatisfied (ConfigurationIn_t config)=0 |
Check whether a configuration statisfies the constraint. | |
Protected Member Functions | |
virtual bool | impl_compute (ConfigurationOut_t configuration)=0 |
User defined implementation of the constraint. | |
Constraint (const std::string &name) | |
Constructor. | |
void | init (const ConstraintPtr_t &self) |
Store shared pointer to itself. | |
Friends | |
std::ostream & | operator<< (std::ostream &os, const Constraint &) |
Constraint applicable to a robot configuration.
Constraint::apply takes as input a configuration and changes it into a configuration satisfying the constraint.
User should define impl_compute in derived classes.
hpp::core::Constraint::Constraint | ( | const std::string & | name | ) | [inline, protected] |
Constructor.
bool hpp::core::Constraint::apply | ( | ConfigurationOut_t | configuration | ) |
Function that applies the constraint.
configuration | initial configuration and result |
virtual bool hpp::core::Constraint::impl_compute | ( | ConfigurationOut_t | configuration | ) | [protected, pure virtual] |
User defined implementation of the constraint.
Implemented in hpp::core::ConfigProjector, and hpp::core::ConstraintSet.
void hpp::core::Constraint::init | ( | const ConstraintPtr_t & | self | ) | [inline, protected] |
Store shared pointer to itself.
Referenced by hpp::core::ConstraintSet::init(), and hpp::core::ConfigProjector::init().
virtual bool hpp::core::Constraint::isSatisfied | ( | ConfigurationIn_t | config | ) | [pure virtual] |
Check whether a configuration statisfies the constraint.
Implemented in hpp::core::ConfigProjector, and hpp::core::ConstraintSet.
const std::string& hpp::core::Constraint::name | ( | ) | const [inline] |
Get name of constraint.
std::ostream& operator<< | ( | std::ostream & | os, |
const Constraint & | constraint | ||
) | [friend] |