ChppGikMotionPlanRow Class Reference

A "motion row" is a container for motion constraints that share the same priority. More...

#include <hpp/gik/core/motion-plan-row.hh>

Public Member Functions

 ChppGikMotionPlanRow (CjrlDynamicRobot *inRobot, unsigned int priority)
 Constructor. More...
 
unsigned int priority () const
 Get the priority. More...
 
double accuracy () const
 Get the accuracy. More...
 
void addMotion (ChppGikPrioritizedMotion *inMotion)
 Add a prioritized motion. More...
 
bool removeMotion (ChppGikPrioritizedMotion *inMotion)
 Add a prioritized motion. More...
 
ChppGikMotionPlanElementelementAtTime (double inTime)
 Get the motion element at a given time. More...
 
double startTime ()
 Get lower bound of definition interval. More...
 
double endTime ()
 Get upper bound of definition interval. More...
 
bool empty () const
 Tell if this row is empty. More...
 
 ~ChppGikMotionPlanRow ()
 Destructor. More...
 

Detailed Description

A "motion row" is a container for motion constraints that share the same priority.

This is a low level object.

Constructor & Destructor Documentation

◆ ChppGikMotionPlanRow()

ChppGikMotionPlanRow::ChppGikMotionPlanRow ( CjrlDynamicRobot *  inRobot,
unsigned int  priority 
)

Constructor.

◆ ~ChppGikMotionPlanRow()

ChppGikMotionPlanRow::~ChppGikMotionPlanRow ( )

Destructor.

Member Function Documentation

◆ accuracy()

double ChppGikMotionPlanRow::accuracy ( ) const

Get the accuracy.

◆ addMotion()

void ChppGikMotionPlanRow::addMotion ( ChppGikPrioritizedMotion inMotion)

Add a prioritized motion.

◆ elementAtTime()

ChppGikMotionPlanElement* ChppGikMotionPlanRow::elementAtTime ( double  inTime)

Get the motion element at a given time.

◆ empty()

bool ChppGikMotionPlanRow::empty ( ) const

Tell if this row is empty.

◆ endTime()

double ChppGikMotionPlanRow::endTime ( )

Get upper bound of definition interval.

◆ priority()

unsigned int ChppGikMotionPlanRow::priority ( ) const

Get the priority.

◆ removeMotion()

bool ChppGikMotionPlanRow::removeMotion ( ChppGikPrioritizedMotion inMotion)

Add a prioritized motion.

Returns
false if the given motion was not referenced in this motion plan row

◆ startTime()

double ChppGikMotionPlanRow::startTime ( )

Get lower bound of definition interval.