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 vectorN & | workingJoints () 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... | |
A motion plan column is a column of motion elements inside a motion plan.
It is the equivalent of a prioritized stack of constraints.
ChppGikMotionPlanColumn::ChppGikMotionPlanColumn | ( | CjrlDynamicRobot * | inRobot | ) |
Constructor.
ChppGikMotionPlanColumn::~ChppGikMotionPlanColumn | ( | ) |
Destructor.
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.
void ChppGikMotionPlanColumn::clear | ( | ) |
Clear motion plan elements (clear stack)
std::vector<CjrlGikStateConstraint*> ChppGikMotionPlanColumn::constraints | ( | ) |
Get a vector of pointers to jrl state constraints sorted in descending priority.
const std::vector<double>& ChppGikMotionPlanColumn::dampingFactors | ( | ) |
Get the vector of damping factors.
unsigned int ChppGikMotionPlanColumn::numberElements | ( | ) | const |
Get the number of motion plan elements in this column.
const vectorN& ChppGikMotionPlanColumn::workingJoints | ( | ) | const |
Get a mask on the configuration vector denoting the working degrees of freedom.
void ChppGikMotionPlanColumn::workingJoints | ( | const vectorN & | inVec | ) |
Set a mask on the configuration vector denoting the working degrees of freedom.