An object that plans a motion a constraint based on a given target constraint. More...
#include <hpp/gik/motionplanner/element/interpolated-element.hh>
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. | |
CjrlGikMotionConstraint * | clone () const |
clone constructor | |
CjrlGikStateConstraint * | stateConstraintAtTime (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. | |
ChppGikVectorizableConstraint * | targetConstraint () |
Get the target constraint. | |
~ChppGikInterpolatedElement () | |
Destructor. |
An object that plans a motion a constraint based on a given target constraint.
ChppGikInterpolatedElement::ChppGikInterpolatedElement | ( | CjrlDynamicRobot * | inRobot, |
ChppGikVectorizableConstraint * | inTargetConstraint, | ||
unsigned int | inPriority, | ||
double | inStartTime, | ||
double | inDuration, | ||
double | inSamplingPeriod, | ||
double | inDampingFactor = 0.0 |
||
) |
constructor
ChppGikInterpolatedElement::~ChppGikInterpolatedElement | ( | ) |
Destructor.
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.
Implements CjrlGikMotionConstraint.
ChppGikVectorizableConstraint* ChppGikInterpolatedElement::targetConstraint | ( | ) |
Get the target constraint.