ChppGikVectorizableConstraint Class Reference

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

Inheritance diagram for ChppGikVectorizableConstraint:
Collaboration diagram for ChppGikVectorizableConstraint:

List of all members.

Public Member Functions

virtual void computeVectorizedState ()=0
 Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
virtual const vectorNvectorizedState () const
 Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
virtual void computeVectorizedTarget ()=0
 Compute the target of the constraint as a vectorN.
virtual bool vectorizedTarget (const vectorN &inTarget)=0
 Set the target of the constraint with a vectorN.
virtual const vectorNvectorizedTarget () const
 Get the target of the constraint expressed as a vectorN.
virtual ~ChppGikVectorizableConstraint ()
 Destructor.

Protected Attributes

vectorN attVectorizedTarget
 The vectorial expression of the constraint's target at the moment of computation.
vectorN attVectorizedState
 The vectorial expression of the constraint's full sdtate at the moment of computation.

Constructor & Destructor Documentation

virtual ChppGikVectorizableConstraint::~ChppGikVectorizableConstraint ( ) [inline, virtual]

Destructor.


Member Function Documentation

virtual void ChppGikVectorizableConstraint::computeVectorizedState ( ) [pure virtual]

Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.

Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.

virtual void ChppGikVectorizableConstraint::computeVectorizedTarget ( ) [pure virtual]
virtual const vectorN& ChppGikVectorizableConstraint::vectorizedState ( ) const [inline, virtual]

Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.

References attVectorizedState.

virtual bool ChppGikVectorizableConstraint::vectorizedTarget ( const vectorN inTarget) [pure virtual]

Set the target of the constraint with a vectorN.

Returns:
false if the argument's size does not match the one expected for this constraint type

Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.

virtual const vectorN& ChppGikVectorizableConstraint::vectorizedTarget ( ) const [inline, virtual]

Get the target of the constraint expressed as a vectorN.

References attVectorizedTarget.


Member Data Documentation

The vectorial expression of the constraint's full sdtate at the moment of computation.

Referenced by vectorizedState().

The vectorial expression of the constraint's target at the moment of computation.

Referenced by vectorizedTarget().