An object that plans a motion a constraint based on a given target constraint. More...
#include <hpp/gik/motionplanner/element/interpolated-element.hh>
Public Member Functions | |
ChppGikInterpolatedElement (CjrlDynamicRobot *inRobot, ChppGikVectorizableConstraint *inTargetConstraint, unsigned int inPriority, double inStartTime, double inDuration, double inSamplingPeriod, double inDampingFactor=0.0) | |
constructor More... | |
CjrlDynamicRobot * | robot () |
Get a pointer to associated robot. More... | |
CjrlGikMotionConstraint * | clone () const |
clone constructor More... | |
CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. More... | |
virtual void | startTime (double inStartTime) |
reset the starting time. More... | |
virtual double | startTime () |
Get the time when the solution motion to this task should start. More... | |
virtual double | endTime () |
Get the time available to solve the task. More... | |
virtual double | duration () |
Get the time available to solve the task. More... | |
ChppGikVectorizableConstraint * | targetConstraint () |
Get the target constraint. More... | |
~ChppGikInterpolatedElement () | |
Destructor. More... | |
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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... | |
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virtual | ~CjrlGikMotionConstraint () |
Additional Inherited Members | |
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CjrlGikMotionConstraint * | attMotionConstraint |
vectorN | attWorkingJoints |
unsigned int | attPriority |
CjrlDynamicRobot * | attRobot |
double | attDampingFactor |
An object that plans a motion a constraint based on a given target constraint.
ChppGikInterpolatedElement::ChppGikInterpolatedElement | ( | CjrlDynamicRobot * | inRobot, |
ChppGikVectorizableConstraint * | inTargetConstraint, | ||
unsigned int | inPriority, | ||
double | inStartTime, | ||
double | inDuration, | ||
double | inSamplingPeriod, | ||
double | inDampingFactor = 0.0 |
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constructor
ChppGikInterpolatedElement::~ChppGikInterpolatedElement | ( | ) |
Destructor.
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virtual |
clone constructor
Implements CjrlGikMotionConstraint.
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virtual |
Get the time available to solve the task.
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virtual |
Get the time available to solve the task.
Implements CjrlGikMotionConstraint.
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virtual |
Get a pointer to associated robot.
Implements CjrlGikMotionConstraint.
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virtual |
reset the starting time.
Implements CjrlGikMotionConstraint.
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virtual |
Get the time when the solution motion to this task should start.
Implements CjrlGikMotionConstraint.
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Get state constraint at a given time.
Implements CjrlGikMotionConstraint.
ChppGikVectorizableConstraint* ChppGikInterpolatedElement::targetConstraint | ( | ) |
Get the target constraint.