ChppGikMotionPlanRow Class Reference

A "motion row" is a container for motion constraints that share the same priority. More...

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

List of all members.

Public Member Functions

 ChppGikMotionPlanRow (CjrlDynamicRobot *inRobot, unsigned int priority)
 Constructor.
unsigned int priority () const
 Get the priority.
double accuracy () const
 Get the accuracy.
void addMotion (ChppGikPrioritizedMotion *inMotion)
 Add a prioritized motion.
bool removeMotion (ChppGikPrioritizedMotion *inMotion)
 Add a prioritized motion.
ChppGikMotionPlanElementelementAtTime (double inTime)
 Get the motion element at a given time.
double startTime ()
 Get lower bound of definition interval.
double endTime ()
 Get upper bound of definition interval.
bool empty () const
 Tell if this row is empty.
 ~ChppGikMotionPlanRow ()
 Destructor.

Detailed Description

A "motion row" is a container for motion constraints that share the same priority.

This is a low level object.


Constructor & Destructor Documentation

ChppGikMotionPlanRow::ChppGikMotionPlanRow ( CjrlDynamicRobot *  inRobot,
unsigned int  priority 
)

Constructor.

ChppGikMotionPlanRow::~ChppGikMotionPlanRow ( )

Destructor.


Member Function Documentation

double ChppGikMotionPlanRow::accuracy ( ) const

Get the accuracy.

void ChppGikMotionPlanRow::addMotion ( ChppGikPrioritizedMotion inMotion)

Add a prioritized motion.

ChppGikMotionPlanElement* ChppGikMotionPlanRow::elementAtTime ( double  inTime)

Get the motion element at a given time.

bool ChppGikMotionPlanRow::empty ( ) const

Tell if this row is empty.

double ChppGikMotionPlanRow::endTime ( )

Get upper bound of definition interval.

unsigned int ChppGikMotionPlanRow::priority ( ) const

Get the priority.

bool ChppGikMotionPlanRow::removeMotion ( ChppGikPrioritizedMotion inMotion)

Add a prioritized motion.

Returns:
false if the given motion was not referenced in this motion plan row
double ChppGikMotionPlanRow::startTime ( )

Get lower bound of definition interval.