hpp::core::Constraint Class Reference

#include <hpp/core/constraint.hh>

Inheritance diagram for hpp::core::Constraint:

Public Member Functions
bool	apply (ConfigurationOut_t configuration)
const std::string &	name () const
	Get name of constraint. More...
virtual bool	isSatisfied (ConfigurationIn_t config)=0
virtual bool	isSatisfied (ConfigurationIn_t config, vector_t &error)=0
virtual ConstraintPtr_t	copy () const =0
	return shared pointer to copy More...
virtual	~Constraint ()

Protected Member Functions
virtual bool	impl_compute (ConfigurationOut_t configuration)=0
	User defined implementation of the constraint. More...
	Constraint (const std::string &name)
	Constructor. More...
	Constraint (const Constraint &constraint)
void	init (const ConstraintPtr_t &self)
	Store shared pointer to itself. More...

Friends
std::ostream &	operator<< (std::ostream &os, const Constraint &)

Detailed Description

Constraint applicable to a robot configuration

Constraint::apply takes as input a configuration and changes it into a configuration satisfying the constraint.

User should define impl_compute in derived classes.

Constructor & Destructor Documentation

~Constraint()

virtual hpp::core::Constraint::~Constraint ( )

inlinevirtual

Constraint() [1/2]

hpp::core::Constraint::Constraint ( const std::string &  name )

inlineprotected

Constructor.

Constraint() [2/2]

hpp::core::Constraint::Constraint ( const Constraint &  constraint )

inlineprotected

Member Function Documentation

apply()

bool hpp::core::Constraint::apply

(

ConfigurationOut_t

configuration

)

Function that applies the constraint

Parameters

configuration

initial configuration and result

Returns

true if constraint applied successfully, false if failure.

copy()

virtual ConstraintPtr_t hpp::core::Constraint::copy ( ) const

pure virtual

return shared pointer to copy

Implemented in hpp::core::ConfigProjector, and hpp::core::ConstraintSet.

impl_compute()

virtual bool hpp::core::Constraint::impl_compute ( ConfigurationOut_t  configuration )

protectedpure virtual

User defined implementation of the constraint.

Implemented in hpp::core::ConfigProjector, and hpp::core::ConstraintSet.

init()

void hpp::core::Constraint::init ( const ConstraintPtr_t &  self )

inlineprotected

Store shared pointer to itself.

isSatisfied() [1/2]

virtual bool hpp::core::Constraint::isSatisfied ( ConfigurationIn_t  config )

pure virtual

Check whether a configuration statisfies the constraint.

Parameters

config

the configuration to check

Implemented in hpp::core::ConfigProjector, and hpp::core::ConstraintSet.

isSatisfied() [2/2]

virtual bool hpp::core::Constraint::isSatisfied ( ConfigurationIn_t  config, vector_t &  error  )

pure virtual

Check whether a configuration statisfies the constraint.

Parameters

config

the configuration to check

Return values

error

error expressed as a vector. Size and content depends on implementations

Implemented in hpp::core::ConfigProjector, and hpp::core::ConstraintSet.

name()

const std::string& hpp::core::Constraint::name ( ) const

inline

Get name of constraint.

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const Constraint &  constraint  )

friend

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The documentation for this class was generated from the following file:

• include/hpp/core/constraint.hh