ChppGikMotionConstraint Class Reference

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>

Inheritance diagram for ChppGikMotionConstraint:
Collaboration diagram for ChppGikMotionConstraint:

List of all members.

Public Member Functions

 ChppGikMotionConstraint (CjrlDynamicRobot *inRobot, double inSamplingPeriod, double inStartTime=0.0)
 Constructor.
CjrlDynamicRobot * robot ()
 get the associated robot
CjrlGikMotionConstraintclone () 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 CjrlGikStateConstraintstateConstraintAtTime (double inTime)
 Get state constraint at a given time.
CjrlGikStateConstraintstateConstraintAtRank (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.

Detailed Description

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.


Constructor & Destructor Documentation

ChppGikMotionConstraint::ChppGikMotionConstraint ( CjrlDynamicRobot *  inRobot,
double  inSamplingPeriod,
double  inStartTime = 0.0 
)

Constructor.

ChppGikMotionConstraint::~ChppGikMotionConstraint ( )

Destructor.


Member Function Documentation

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.