ChppGikInterpolatedElement Class Reference

An object that plans a motion a constraint based on a given target constraint. More...

#include <hpp/gik/motionplanner/element/interpolated-element.hh>

Inheritance diagram for ChppGikInterpolatedElement:
Collaboration diagram for ChppGikInterpolatedElement:

List of all members.

Public Member Functions

 ChppGikInterpolatedElement (CjrlDynamicRobot *inRobot, ChppGikVectorizableConstraint *inTargetConstraint, unsigned int inPriority, double inStartTime, double inDuration, double inSamplingPeriod, double inDampingFactor=0.0)
 constructor
CjrlDynamicRobot * robot ()
 Get a pointer to associated robot.
CjrlGikMotionConstraintclone () const
 clone constructor
CjrlGikStateConstraintstateConstraintAtTime (double inTime)
 Get state constraint at a given time.
virtual void startTime (double inStartTime)
 reset the starting time.
virtual double startTime ()
 Get the time when the solution motion to this task should start.
virtual double endTime ()
 Get the time available to solve the task.
virtual double duration ()
 Get the time available to solve the task.
ChppGikVectorizableConstrainttargetConstraint ()
 Get the target constraint.
 ~ChppGikInterpolatedElement ()
 Destructor.

Detailed Description

An object that plans a motion a constraint based on a given target constraint.


Constructor & Destructor Documentation

ChppGikInterpolatedElement::ChppGikInterpolatedElement ( CjrlDynamicRobot *  inRobot,
ChppGikVectorizableConstraint inTargetConstraint,
unsigned int  inPriority,
double  inStartTime,
double  inDuration,
double  inSamplingPeriod,
double  inDampingFactor = 0.0 
)

constructor

ChppGikInterpolatedElement::~ChppGikInterpolatedElement ( )

Destructor.


Member Function Documentation

CjrlGikMotionConstraint* ChppGikInterpolatedElement::clone ( ) const [virtual]

clone constructor

Implements CjrlGikMotionConstraint.

virtual double ChppGikInterpolatedElement::duration ( ) [virtual]

Get the time available to solve the task.

virtual double ChppGikInterpolatedElement::endTime ( ) [virtual]

Get the time available to solve the task.

Implements CjrlGikMotionConstraint.

CjrlDynamicRobot* ChppGikInterpolatedElement::robot ( ) [virtual]

Get a pointer to associated robot.

Implements CjrlGikMotionConstraint.

virtual void ChppGikInterpolatedElement::startTime ( double  inStartTime) [virtual]

reset the starting time.

Implements CjrlGikMotionConstraint.

virtual double ChppGikInterpolatedElement::startTime ( ) [virtual]

Get the time when the solution motion to this task should start.

Implements CjrlGikMotionConstraint.

CjrlGikStateConstraint* ChppGikInterpolatedElement::stateConstraintAtTime ( double  inTime) [virtual]

Get state constraint at a given time.

Returns:
null pointer if time out of bounds or if motion not planned yet

Implements CjrlGikMotionConstraint.

ChppGikVectorizableConstraint* ChppGikInterpolatedElement::targetConstraint ( )

Get the target constraint.