CjrlGikMotionConstraint Class Referenceabstract


Define the evolution of a state constraint along time More...

#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikMotionConstraint.h>

Public Member Functions

virtual CjrlDynamicRobot * robot ()=0
 
Get a pointer to associated robot More...
 
virtual CjrlGikMotionConstraintclone () const =0
 
Clone constructor More...
 
virtual CjrlGikStateConstraintstateConstraintAtTime (double inTime)=0
 
Get state constraint at a given time. More...
 
virtual void startTime (double inStartTime)=0
 
Set lower bound of definition interval. More...
 
virtual double startTime ()=0
 
Get lower bound of definition interval. More...
 
virtual double endTime ()=0
 
Get upper bound of definition interval. More...
 
virtual ~CjrlGikMotionConstraint ()
 
Destructor More...
 

Detailed Description


Define the evolution of a state constraint along time

Constructor & Destructor Documentation

◆ ~CjrlGikMotionConstraint()

virtual CjrlGikMotionConstraint::~CjrlGikMotionConstraint ( )
inlinevirtual


Destructor

Member Function Documentation

◆ clone()

virtual CjrlGikMotionConstraint* CjrlGikMotionConstraint::clone ( ) const
pure virtual


Clone constructor

◆ endTime()

virtual double CjrlGikMotionConstraint::endTime ( )
pure virtual


Get upper bound of definition interval.

◆ robot()

virtual CjrlDynamicRobot* CjrlGikMotionConstraint::robot ( )
pure virtual


Get a pointer to associated robot

◆ startTime() [1/2]

virtual void CjrlGikMotionConstraint::startTime ( double  inStartTime)
pure virtual


Set lower bound of definition interval.

◆ startTime() [2/2]

virtual double CjrlGikMotionConstraint::startTime ( )
pure virtual


Get lower bound of definition interval.

◆ stateConstraintAtTime()

virtual CjrlGikStateConstraint* CjrlGikMotionConstraint::stateConstraintAtTime ( double  inTime)
pure virtual


Get state constraint at a given time.