Store a pointer to a CjrlGikMotionConstraint and additional information. More...
#include <hpp/gik/core/prioritized-motion.hh>
Public Member Functions | |
ChppGikPrioritizedMotion (CjrlDynamicRobot *inRobot, unsigned int inPriority, CjrlGikMotionConstraint *inMotionConstraint, double inDampingFactor) | |
Constructor. More... | |
void | workingJoints (const vectorN &inJointsMask) |
Set the joint mask put to work. More... | |
const vectorN & | workingJoints () const |
Get the joint mask put to work. More... | |
unsigned int | priority () const |
Get the priority. More... | |
double | dampingFactor () const |
Get the damping factor. More... | |
CjrlDynamicRobot * | robot () |
Get the robot for this motion. More... | |
virtual CjrlGikMotionConstraint * | motionConstraint () |
Get a pointer to the motion constraint. More... | |
virtual | ~ChppGikPrioritizedMotion () |
Destructor. More... | |
Protected Attributes | |
CjrlGikMotionConstraint * | attMotionConstraint |
vectorN | attWorkingJoints |
unsigned int | attPriority |
CjrlDynamicRobot * | attRobot |
double | attDampingFactor |
Store a pointer to a CjrlGikMotionConstraint and additional information.
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inline |
Constructor.
References attDampingFactor, attMotionConstraint, attPriority, attRobot, and attWorkingJoints.
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inlinevirtual |
Destructor.
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inline |
Get the damping factor.
References attDampingFactor.
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inlinevirtual |
Get a pointer to the motion constraint.
Reimplemented in ChppGikLocomotionElement, ChppGikNoLocomotion, and ChppGikComMotion.
References attMotionConstraint.
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inline |
Get the priority.
References attPriority.
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inline |
Get the robot for this motion.
References attRobot.
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inline |
Set the joint mask put to work.
References attWorkingJoints.
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inline |
Get the joint mask put to work.
References attWorkingJoints.
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protected |
Referenced by ChppGikPrioritizedMotion(), and dampingFactor().
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protected |
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protected |
Referenced by ChppGikPrioritizedMotion(), and priority().
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protected |
Referenced by ChppGikPrioritizedMotion(), ChppGikLocomotionElement::robot(), and robot().
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protected |
Referenced by ChppGikPrioritizedMotion(), ChppGikReadyElement::ChppGikReadyElement(), and workingJoints().