ChppGikMotionPlanColumn Class Reference

A motion plan column is a column of motion elements inside a motion plan. More...

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

List of all members.

Public Member Functions

 ~ChppGikMotionPlanColumn ()
 Destructor.
Definition
 ChppGikMotionPlanColumn (CjrlDynamicRobot *inRobot)
 Constructor.
void addElement (ChppGikMotionPlanElement *inTask)
 Add a motion plan element (task).
unsigned int numberElements () const
 Get the number of motion plan elements in this column.
const std::vector< double > & dampingFactors ()
 Get the vector of damping factors.
const vectorNworkingJoints () const
 Get a mask on the configuration vector denoting the working degrees of freedom.
void workingJoints (const vectorN &inVec)
 Set a mask on the configuration vector denoting the working degrees of freedom.
std::vector
< CjrlGikStateConstraint * > 
constraints ()
 Get a vector of pointers to jrl state constraints sorted in descending priority.
void clear ()
 Clear motion plan elements (clear stack)

Detailed Description

A motion plan column is a column of motion elements inside a motion plan.

It is the equivalent of a prioritized stack of constraints.


Constructor & Destructor Documentation

ChppGikMotionPlanColumn::ChppGikMotionPlanColumn ( CjrlDynamicRobot *  inRobot)

Constructor.

ChppGikMotionPlanColumn::~ChppGikMotionPlanColumn ( )

Destructor.


Member Function Documentation

void ChppGikMotionPlanColumn::addElement ( ChppGikMotionPlanElement inTask)

Add a motion plan element (task).

The task is automatically inserted at the adequate rank of the storing vector according to the priority.

void ChppGikMotionPlanColumn::clear ( )

Clear motion plan elements (clear stack)

std::vector<CjrlGikStateConstraint*> ChppGikMotionPlanColumn::constraints ( )

Get a vector of pointers to jrl state constraints sorted in descending priority.

const std::vector<double>& ChppGikMotionPlanColumn::dampingFactors ( )

Get the vector of damping factors.

unsigned int ChppGikMotionPlanColumn::numberElements ( ) const

Get the number of motion plan elements in this column.

const vectorN& ChppGikMotionPlanColumn::workingJoints ( ) const

Get a mask on the configuration vector denoting the working degrees of freedom.

void ChppGikMotionPlanColumn::workingJoints ( const vectorN inVec)

Set a mask on the configuration vector denoting the working degrees of freedom.