The Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects. More...
#include <hpp/gik/core/motion-plan.hh>
Public Member Functions | |
ChppGikMotionPlan (CjrlDynamicRobot *inRobot) | |
Constructor. More... | |
~ChppGikMotionPlan () | |
Destructor. More... | |
CjrlDynamicRobot * | robot () |
Return associated robot. More... | |
ChppGikMotionPlanRow * | addMotion (ChppGikPrioritizedMotion *inMotion) |
Add a prioritized motion constraint. More... | |
bool | getRankForPriority (unsigned int inPriority, unsigned int &outRownumber) |
Get number of row corresponding to given priority value. More... | |
ChppGikMotionPlanRow * | getRow (unsigned int inRank) |
Get a pointer to the row at the given rank (starting from 0). More... | |
bool | empty () |
Tell is the motion plan is empty. More... | |
double | startTime () |
Compute and get lower bound of definition interval. More... | |
double | endTime () |
Compute and get upper bound of definition interval. More... | |
ChppGikMotionPlanColumn * | columnAtTime (double inTime) |
Get the motion plan column at the given time. More... | |
std::vector< ChppGikPrioritizedMotion * > | activeAtTime (double inTime) |
Get the motion plan column at the given time. More... | |
void | removeMotion (ChppGikPrioritizedMotion *inMotion) |
Remove inMotion from all motion plan rows. More... | |
The Motion Plan contains references to ChppGikPrioritizedMotion objects, sorted by descending priority in ChppGikMotionPlanRow objects.
ChppGikMotionPlan::ChppGikMotionPlan | ( | CjrlDynamicRobot * | inRobot | ) |
Constructor.
ChppGikMotionPlan::~ChppGikMotionPlan | ( | ) |
Destructor.
std::vector<ChppGikPrioritizedMotion*> ChppGikMotionPlan::activeAtTime | ( | double | inTime | ) |
Get the motion plan column at the given time.
ChppGikMotionPlanRow* ChppGikMotionPlan::addMotion | ( | ChppGikPrioritizedMotion * | inMotion | ) |
Add a prioritized motion constraint.
If a row having the same priority is found it gets the new motion constraint, otherwise a new row is created for it. /return a pointer to the ChppGikMotionPlanRow that holds the entered motion constraint /note null pointer is returned in case the adde motion is not defined for this motion plan's robot
ChppGikMotionPlanColumn* ChppGikMotionPlan::columnAtTime | ( | double | inTime | ) |
Get the motion plan column at the given time.
bool ChppGikMotionPlan::empty | ( | ) |
Tell is the motion plan is empty.
double ChppGikMotionPlan::endTime | ( | ) |
Compute and get upper bound of definition interval.
bool ChppGikMotionPlan::getRankForPriority | ( | unsigned int | inPriority, |
unsigned int & | outRownumber | ||
) |
Get number of row corresponding to given priority value.
ChppGikMotionPlanRow* ChppGikMotionPlan::getRow | ( | unsigned int | inRank | ) |
Get a pointer to the row at the given rank (starting from 0).
void ChppGikMotionPlan::removeMotion | ( | ChppGikPrioritizedMotion * | inMotion | ) |
Remove inMotion from all motion plan rows.
CjrlDynamicRobot* ChppGikMotionPlan::robot | ( | ) |
Return associated robot.
double ChppGikMotionPlan::startTime | ( | ) |
Compute and get lower bound of definition interval.