ChppGikInterpolatedElement Class Reference

An object that plans a motion a constraint based on a given target constraint. More...

#include <hpp/gik/motionplanner/element/interpolated-element.hh>

Inheritance diagram for ChppGikInterpolatedElement:
Collaboration diagram for ChppGikInterpolatedElement:

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...
 
CjrlGikMotionConstraintclone () const
 clone constructor More...
 
CjrlGikStateConstraintstateConstraintAtTime (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...
 
ChppGikVectorizableConstrainttargetConstraint ()
 Get the target constraint. More...
 
 ~ChppGikInterpolatedElement ()
 Destructor. More...
 
- Public Member Functions inherited from ChppGikPrioritizedMotion
 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 vectorNworkingJoints () 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 CjrlGikMotionConstraintmotionConstraint ()
 Get a pointer to the motion constraint. More...
 
virtual ~ChppGikPrioritizedMotion ()
 Destructor. More...
 
- Public Member Functions inherited from CjrlGikMotionConstraint
virtual ~CjrlGikMotionConstraint ()
 

Additional Inherited Members

- Protected Attributes inherited from ChppGikPrioritizedMotion
CjrlGikMotionConstraintattMotionConstraint
 
vectorN attWorkingJoints
 
unsigned int attPriority
 
CjrlDynamicRobot * attRobot
 
double attDampingFactor
 

Detailed Description

An object that plans a motion a constraint based on a given target constraint.

Constructor & Destructor Documentation

◆ ChppGikInterpolatedElement()

ChppGikInterpolatedElement::ChppGikInterpolatedElement ( CjrlDynamicRobot *  inRobot,
ChppGikVectorizableConstraint inTargetConstraint,
unsigned int  inPriority,
double  inStartTime,
double  inDuration,
double  inSamplingPeriod,
double  inDampingFactor = 0.0 
)

constructor

◆ ~ChppGikInterpolatedElement()

ChppGikInterpolatedElement::~ChppGikInterpolatedElement ( )

Destructor.

Member Function Documentation

◆ clone()

CjrlGikMotionConstraint* ChppGikInterpolatedElement::clone ( ) const
virtual

clone constructor

Implements CjrlGikMotionConstraint.

◆ duration()

virtual double ChppGikInterpolatedElement::duration ( )
virtual

Get the time available to solve the task.

◆ endTime()

virtual double ChppGikInterpolatedElement::endTime ( )
virtual

Get the time available to solve the task.

Implements CjrlGikMotionConstraint.

◆ robot()

CjrlDynamicRobot* ChppGikInterpolatedElement::robot ( )
virtual

Get a pointer to associated robot.

Implements CjrlGikMotionConstraint.

◆ startTime() [1/2]

virtual void ChppGikInterpolatedElement::startTime ( double  inStartTime)
virtual

reset the starting time.

Implements CjrlGikMotionConstraint.

◆ startTime() [2/2]

virtual double ChppGikInterpolatedElement::startTime ( )
virtual

Get the time when the solution motion to this task should start.

Implements CjrlGikMotionConstraint.

◆ stateConstraintAtTime()

CjrlGikStateConstraint* ChppGikInterpolatedElement::stateConstraintAtTime ( double  inTime)
virtual

Get state constraint at a given time.

Returns
null pointer if time out of bounds or if motion not planned yet

Implements CjrlGikMotionConstraint.

◆ targetConstraint()

ChppGikVectorizableConstraint* ChppGikInterpolatedElement::targetConstraint ( )

Get the target constraint.