In this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor. More...
#include <hpp/gik/constraint/motion-constraint.hh>
Public Member Functions | |
ChppGikMotionConstraint (CjrlDynamicRobot *inRobot, double inSamplingPeriod, double inStartTime=0.0) | |
Constructor. | |
CjrlDynamicRobot * | robot () |
get the associated robot | |
CjrlGikMotionConstraint * | clone () const |
Clone Constructor. | |
void | pushbackStateConstraint (const CjrlGikStateConstraint *inStateConstraint) |
Append a state constraint at the end of the motion and update the end time (A copy of the given state constraint object is made). | |
void | pushfrontStateConstraint (const CjrlGikStateConstraint *inStateConstraint) |
Append a state constraint at the beginning of the motion and update the start time (A copy of the given state constraint object is made). | |
virtual CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. | |
CjrlGikStateConstraint * | stateConstraintAtRank (unsigned int inRank) const |
Get state constraint at a given rank. | |
unsigned int | numberStateConstraints () |
Get the number of state constraints contained in this motion constraint. | |
bool | empty () |
Tell if support vector motion is empty. | |
void | clear () |
Empty the Motion Constraint and reset start and end times. | |
void | startTime (double inStartTime) |
Set lower bound of definition interval. | |
double | startTime () |
Get lower bound of definition interval. | |
double | endTime () |
Get upper bound of definition interval. | |
double | samplingPeriod () |
Get the sampling period. | |
~ChppGikMotionConstraint () | |
Destructor. |
In this implementation of CjrlGikMotionConstraint, the motion is a vector of CjrlGikStateConstraint which are samples at the sampling rate entered in the constructor.
In the current state, when a stateconstraint is requested at a given time, the nearest sample found is returned. a more precise implementation could return an interpolation of the bounding samples. The default start time is 0.
ChppGikMotionConstraint::ChppGikMotionConstraint | ( | CjrlDynamicRobot * | inRobot, |
double | inSamplingPeriod, | ||
double | inStartTime = 0.0 |
||
) |
Constructor.
ChppGikMotionConstraint::~ChppGikMotionConstraint | ( | ) |
Destructor.
void ChppGikMotionConstraint::clear | ( | ) |
Empty the Motion Constraint and reset start and end times.
CjrlGikMotionConstraint* ChppGikMotionConstraint::clone | ( | ) | const [virtual] |
Clone Constructor.
Implements CjrlGikMotionConstraint.
bool ChppGikMotionConstraint::empty | ( | ) |
Tell if support vector motion is empty.
double ChppGikMotionConstraint::endTime | ( | ) | [virtual] |
Get upper bound of definition interval.
Implements CjrlGikMotionConstraint.
unsigned int ChppGikMotionConstraint::numberStateConstraints | ( | ) |
Get the number of state constraints contained in this motion constraint.
void ChppGikMotionConstraint::pushbackStateConstraint | ( | const CjrlGikStateConstraint * | inStateConstraint | ) |
Append a state constraint at the end of the motion and update the end time (A copy of the given state constraint object is made).
void ChppGikMotionConstraint::pushfrontStateConstraint | ( | const CjrlGikStateConstraint * | inStateConstraint | ) |
Append a state constraint at the beginning of the motion and update the start time (A copy of the given state constraint object is made).
CjrlDynamicRobot* ChppGikMotionConstraint::robot | ( | ) | [virtual] |
get the associated robot
Implements CjrlGikMotionConstraint.
double ChppGikMotionConstraint::samplingPeriod | ( | ) |
Get the sampling period.
void ChppGikMotionConstraint::startTime | ( | double | inStartTime | ) | [virtual] |
Set lower bound of definition interval.
Implements CjrlGikMotionConstraint.
double ChppGikMotionConstraint::startTime | ( | ) | [virtual] |
Get lower bound of definition interval.
Implements CjrlGikMotionConstraint.
CjrlGikStateConstraint* ChppGikMotionConstraint::stateConstraintAtRank | ( | unsigned int | inRank | ) | const |
Get state constraint at a given rank.
virtual CjrlGikStateConstraint* ChppGikMotionConstraint::stateConstraintAtTime | ( | double | inTime | ) | [virtual] |
Get state constraint at a given time.
Implements CjrlGikMotionConstraint.