ChppGikPrioritizedMotion Class Reference

Store a pointer to a CjrlGikMotionConstraint and additional information. More...

#include <hpp/gik/core/prioritized-motion.hh>

Inheritance diagram for ChppGikPrioritizedMotion:
Collaboration diagram for ChppGikPrioritizedMotion:

List of all members.

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 vectorNworkingJoints () 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 CjrlGikMotionConstraintmotionConstraint ()
 Get a pointer to the motion constraint.
virtual ~ChppGikPrioritizedMotion ()
 Destructor.

Protected Attributes

CjrlGikMotionConstraintattMotionConstraint
vectorN attWorkingJoints
unsigned int attPriority
CjrlDynamicRobot * attRobot
double attDampingFactor

Detailed Description

Store a pointer to a CjrlGikMotionConstraint and additional information.

  • a CjrlHumanoidDynamicRobot,
  • a priority
  • and a mask vector indicating active degrees of freedom for the motion constraint.

Constructor & Destructor Documentation

ChppGikPrioritizedMotion::ChppGikPrioritizedMotion ( CjrlDynamicRobot *  inRobot,
unsigned int  inPriority,
CjrlGikMotionConstraint inMotionConstraint,
double  inDampingFactor 
) [inline]
virtual ChppGikPrioritizedMotion::~ChppGikPrioritizedMotion ( ) [inline, virtual]

Destructor.


Member Function Documentation

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.


Member Data Documentation

unsigned int ChppGikPrioritizedMotion::attPriority [protected]