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.