#include <hpp/gik/constraint/vectorizable-constraint.hh>
Public Member Functions | |
virtual void | computeVectorizedState ()=0 |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. | |
virtual const vectorN & | vectorizedState () const |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. | |
virtual void | computeVectorizedTarget ()=0 |
Compute the target of the constraint as a vectorN. | |
virtual bool | vectorizedTarget (const vectorN &inTarget)=0 |
Set the target of the constraint with a vectorN. | |
virtual const vectorN & | vectorizedTarget () const |
Get the target of the constraint expressed as a vectorN. | |
virtual | ~ChppGikVectorizableConstraint () |
Destructor. | |
Protected Attributes | |
vectorN | attVectorizedTarget |
The vectorial expression of the constraint's target at the moment of computation. | |
vectorN | attVectorizedState |
The vectorial expression of the constraint's full sdtate at the moment of computation. |
virtual ChppGikVectorizableConstraint::~ChppGikVectorizableConstraint | ( | ) | [inline, virtual] |
Destructor.
virtual void ChppGikVectorizableConstraint::computeVectorizedState | ( | ) | [pure virtual] |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.
virtual void ChppGikVectorizableConstraint::computeVectorizedTarget | ( | ) | [pure virtual] |
Compute the target of the constraint as a vectorN.
Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.
virtual const vectorN& ChppGikVectorizableConstraint::vectorizedState | ( | ) | const [inline, virtual] |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
References attVectorizedState.
virtual bool ChppGikVectorizableConstraint::vectorizedTarget | ( | const vectorN & | inTarget | ) | [pure virtual] |
Set the target of the constraint with a vectorN.
Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.
virtual const vectorN& ChppGikVectorizableConstraint::vectorizedTarget | ( | ) | const [inline, virtual] |
Get the target of the constraint expressed as a vectorN.
References attVectorizedTarget.
The vectorial expression of the constraint's full sdtate at the moment of computation.
Referenced by vectorizedState().
The vectorial expression of the constraint's target at the moment of computation.
Referenced by vectorizedTarget().