Store a pointer to a CjrlGikMotionConstraint and additional information. More...
#include <hpp/gik/core/prioritized-motion.hh>
Public Member Functions | |
ChppGikPrioritizedMotion (CjrlDynamicRobot *inRobot, unsigned int inPriority, CjrlGikMotionConstraint *inMotionConstraint, double inDampingFactor) | |
Constructor. | |
void | workingJoints (const vectorN &inJointsMask) |
Set the joint mask put to work. | |
const vectorN & | workingJoints () const |
Get the joint mask put to work. | |
unsigned int | priority () const |
Get the priority. | |
double | dampingFactor () const |
Get the damping factor. | |
CjrlDynamicRobot * | robot () |
Get the robot for this motion. | |
virtual CjrlGikMotionConstraint * | motionConstraint () |
Get a pointer to the motion constraint. | |
virtual | ~ChppGikPrioritizedMotion () |
Destructor. | |
Protected Attributes | |
CjrlGikMotionConstraint * | attMotionConstraint |
vectorN | attWorkingJoints |
unsigned int | attPriority |
CjrlDynamicRobot * | attRobot |
double | attDampingFactor |
Store a pointer to a CjrlGikMotionConstraint and additional information.
ChppGikPrioritizedMotion::ChppGikPrioritizedMotion | ( | CjrlDynamicRobot * | inRobot, |
unsigned int | inPriority, | ||
CjrlGikMotionConstraint * | inMotionConstraint, | ||
double | inDampingFactor | ||
) | [inline] |
Constructor.
References attDampingFactor, attMotionConstraint, attPriority, attRobot, and attWorkingJoints.
virtual ChppGikPrioritizedMotion::~ChppGikPrioritizedMotion | ( | ) | [inline, virtual] |
Destructor.
double ChppGikPrioritizedMotion::dampingFactor | ( | ) | const [inline] |
Get the damping factor.
References attDampingFactor.
virtual CjrlGikMotionConstraint* ChppGikPrioritizedMotion::motionConstraint | ( | ) | [inline, virtual] |
Get a pointer to the motion constraint.
Reimplemented in ChppGikLocomotionElement, ChppGikNoLocomotion, and ChppGikComMotion.
References attMotionConstraint.
unsigned int ChppGikPrioritizedMotion::priority | ( | ) | const [inline] |
Get the priority.
References attPriority.
CjrlDynamicRobot* ChppGikPrioritizedMotion::robot | ( | ) | [inline] |
Get the robot for this motion.
Reimplemented in ChppGikLocomotionElement, ChppGikNoLocomotion, ChppGikInterpolatedElement, and ChppGikComMotion.
References attRobot.
void ChppGikPrioritizedMotion::workingJoints | ( | const vectorN & | inJointsMask | ) | [inline] |
Set the joint mask put to work.
References attWorkingJoints.
const vectorN& ChppGikPrioritizedMotion::workingJoints | ( | ) | const [inline] |
Get the joint mask put to work.
References attWorkingJoints.
double ChppGikPrioritizedMotion::attDampingFactor [protected] |
Referenced by ChppGikPrioritizedMotion(), and dampingFactor().
unsigned int ChppGikPrioritizedMotion::attPriority [protected] |
Referenced by ChppGikPrioritizedMotion(), and priority().
CjrlDynamicRobot* ChppGikPrioritizedMotion::attRobot [protected] |
Referenced by ChppGikPrioritizedMotion(), ChppGikLocomotionElement::robot(), and robot().
vectorN ChppGikPrioritizedMotion::attWorkingJoints [protected] |
Referenced by ChppGikPrioritizedMotion(), ChppGikReadyElement::ChppGikReadyElement(), and workingJoints().