ChppGikMotionPlanColumn Class Reference

A motion plan column is a column of motion elements inside a motion plan. More...

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

Public Member Functions

 ~ChppGikMotionPlanColumn ()
 Destructor. More...
 
Definition
 ChppGikMotionPlanColumn (CjrlDynamicRobot *inRobot)
 Constructor. More...
 
void addElement (ChppGikMotionPlanElement *inTask)
 Add a motion plan element (task). More...
 
unsigned int numberElements () const
 Get the number of motion plan elements in this column. More...
 
const std::vector< double > & dampingFactors ()
 Get the vector of damping factors. More...
 
const vectorNworkingJoints () const
 Get a mask on the configuration vector denoting the working degrees of freedom. More...
 
void workingJoints (const vectorN &inVec)
 Set a mask on the configuration vector denoting the working degrees of freedom. More...
 
std::vector< CjrlGikStateConstraint * > constraints ()
 Get a vector of pointers to jrl state constraints sorted in descending priority. More...
 
void clear ()
 Clear motion plan elements (clear stack) More...
 

Detailed Description

A motion plan column is a column of motion elements inside a motion plan.

It is the equivalent of a prioritized stack of constraints.

Constructor & Destructor Documentation

◆ ChppGikMotionPlanColumn()

ChppGikMotionPlanColumn::ChppGikMotionPlanColumn ( CjrlDynamicRobot *  inRobot)

Constructor.

◆ ~ChppGikMotionPlanColumn()

ChppGikMotionPlanColumn::~ChppGikMotionPlanColumn ( )

Destructor.

Member Function Documentation

◆ addElement()

void ChppGikMotionPlanColumn::addElement ( ChppGikMotionPlanElement inTask)

Add a motion plan element (task).

The task is automatically inserted at the adequate rank of the storing vector according to the priority.

◆ clear()

void ChppGikMotionPlanColumn::clear ( )

Clear motion plan elements (clear stack)

◆ constraints()

std::vector<CjrlGikStateConstraint*> ChppGikMotionPlanColumn::constraints ( )

Get a vector of pointers to jrl state constraints sorted in descending priority.

◆ dampingFactors()

const std::vector<double>& ChppGikMotionPlanColumn::dampingFactors ( )

Get the vector of damping factors.

◆ numberElements()

unsigned int ChppGikMotionPlanColumn::numberElements ( ) const

Get the number of motion plan elements in this column.

◆ workingJoints() [1/2]

const vectorN& ChppGikMotionPlanColumn::workingJoints ( ) const

Get a mask on the configuration vector denoting the working degrees of freedom.

◆ workingJoints() [2/2]

void ChppGikMotionPlanColumn::workingJoints ( const vectorN inVec)

Set a mask on the configuration vector denoting the working degrees of freedom.