ChppGikPrioritizedMotion Class Reference

Store a pointer to a CjrlGikMotionConstraint and additional information. More...

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

Inheritance diagram for ChppGikPrioritizedMotion:
Collaboration diagram for ChppGikPrioritizedMotion:

Public Member Functions

 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...
 

Protected Attributes

CjrlGikMotionConstraintattMotionConstraint
 
vectorN attWorkingJoints
 
unsigned int attPriority
 
CjrlDynamicRobot * attRobot
 
double attDampingFactor
 

Detailed Description

Store a pointer to a CjrlGikMotionConstraint and additional information.

  • a CjrlHumanoidDynamicRobot,
  • a priority
  • and a mask vector indicating active degrees of freedom for the motion constraint.

Constructor & Destructor Documentation

◆ ChppGikPrioritizedMotion()

ChppGikPrioritizedMotion::ChppGikPrioritizedMotion ( CjrlDynamicRobot *  inRobot,
unsigned int  inPriority,
CjrlGikMotionConstraint inMotionConstraint,
double  inDampingFactor 
)
inline

◆ ~ChppGikPrioritizedMotion()

virtual ChppGikPrioritizedMotion::~ChppGikPrioritizedMotion ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ dampingFactor()

double ChppGikPrioritizedMotion::dampingFactor ( ) const
inline

Get the damping factor.

References attDampingFactor.

◆ motionConstraint()

virtual CjrlGikMotionConstraint* ChppGikPrioritizedMotion::motionConstraint ( )
inlinevirtual

Get a pointer to the motion constraint.

Reimplemented in ChppGikLocomotionElement, ChppGikNoLocomotion, and ChppGikComMotion.

References attMotionConstraint.

◆ priority()

unsigned int ChppGikPrioritizedMotion::priority ( ) const
inline

Get the priority.

References attPriority.

◆ robot()

CjrlDynamicRobot* ChppGikPrioritizedMotion::robot ( )
inline

Get the robot for this motion.

References attRobot.

◆ workingJoints() [1/2]

void ChppGikPrioritizedMotion::workingJoints ( const vectorN inJointsMask)
inline

Set the joint mask put to work.

References attWorkingJoints.

◆ workingJoints() [2/2]

const vectorN& ChppGikPrioritizedMotion::workingJoints ( ) const
inline

Get the joint mask put to work.

References attWorkingJoints.

Member Data Documentation

◆ attDampingFactor

double ChppGikPrioritizedMotion::attDampingFactor
protected

◆ attMotionConstraint

◆ attPriority

unsigned int ChppGikPrioritizedMotion::attPriority
protected

◆ attRobot

CjrlDynamicRobot* ChppGikPrioritizedMotion::attRobot
protected

◆ attWorkingJoints

vectorN ChppGikPrioritizedMotion::attWorkingJoints
protected