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>
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. |
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.
ChppGikGazeConstraint::ChppGikGazeConstraint | ( | CjrlHumanoidDynamicRobot & | inRobot, |
const vector3d & | inTargetWorldPoint | ||
) |
brief Constructor
ChppGikGazeConstraint::~ChppGikGazeConstraint | ( | ) |
Destructor.
void ChppGikGazeConstraint::joint | ( | CjrlJoint * | ) | [inline, virtual] |
Set the joint associated to the constraint.
Reimplemented from CjrlGikGazeConstraint.
void ChppGikGazeConstraint::localOrigin | ( | const vector3d & | ) | [inline, virtual] |
Set the origin of the pointing vector.
Reimplemented from CjrlGikGazeConstraint.
void ChppGikGazeConstraint::localVector | ( | const vector3d & | ) | [inline, virtual] |
Set the pointing vector in joint's local frame.
Reimplemented from CjrlGikGazeConstraint.