ChppGikGazeConstraint Class Reference

Constraint on a line segment attached to a body to be aligned with a given point in the world frame. More...

#include <hpp/gik/constraint/gaze-constraint.hh>

Inheritance diagram for ChppGikGazeConstraint:
Collaboration diagram for ChppGikGazeConstraint:

List of all members.

Public Member Functions

Definition of the constraint
 ChppGikGazeConstraint (CjrlHumanoidDynamicRobot &inRobot, const vector3d &inTargetWorldPoint)
 brief Constructor
void joint (CjrlJoint *)
 Set the joint associated to the constraint.
void localOrigin (const vector3d &)
 Set the origin of the pointing vector.
void localVector (const vector3d &)
 Set the pointing vector in joint's local frame.
 ~ChppGikGazeConstraint ()
 Destructor.

Detailed Description

Constraint on a line segment attached to a body to be aligned with a given point in the world frame.

The line segment is defined by an origin point and a vector both given in the body's local frame.


Constructor & Destructor Documentation

ChppGikGazeConstraint::ChppGikGazeConstraint ( CjrlHumanoidDynamicRobot &  inRobot,
const vector3d inTargetWorldPoint 
)

brief Constructor

ChppGikGazeConstraint::~ChppGikGazeConstraint ( )

Destructor.


Member Function Documentation

void ChppGikGazeConstraint::joint ( CjrlJoint *  ) [inline, virtual]

Set the joint associated to the constraint.

Note:
Does nothing since not applicable for this class.

Reimplemented from CjrlGikGazeConstraint.

void ChppGikGazeConstraint::localOrigin ( const vector3d ) [inline, virtual]

Set the origin of the pointing vector.

Note:
Does nothing since not applicable for this class.

Reimplemented from CjrlGikGazeConstraint.

void ChppGikGazeConstraint::localVector ( const vector3d ) [inline, virtual]

Set the pointing vector in joint's local frame.

Note:
Does nothing since not applicable for this class.

Reimplemented from CjrlGikGazeConstraint.