eXperiment robotics framework

Constraint Class Reference
[Constraints on Frames]

Limit the possible motion of a Frame. More...

#include <erf/erf_constraint.hpp>>

Inheritance diagram for Constraint:

Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual ~Constraint ()
virtual void constrainTranslation (Vec3 &translation, Frame *const frame)
virtual void constrainRotation (Quaternion &rotation, Frame *const frame)


Detailed Description

Limit the possible motion of a Frame.

Definition at line 84 of file erf_constraint.hpp.


Constructor & Destructor Documentation

virtual Constraint::~Constraint (  )  [inline, virtual]

Virtual destructor. Empty.

Definition at line 88 of file erf_constraint.hpp.


Member Function Documentation

virtual void Constraint::constrainTranslation ( Vec3 translation,
Frame *const   frame 
) [inline, virtual]

Filters the translation applied to the frame. This default implementation is empty (no filtering).

Overload this method in your own Constraint class to define a new translation constraint. frame is the Frame to which is applied the translation. It is not defined const, but you should refrain from directly changing its value in the constraint. Use its Frame::position() and update the translation accordingly instead.

translation is expressed in local frame coordinate system. Use Frame::inverseTransformOf() to express it in the world coordinate system if needed.

Reimplemented in AxisPlaneConstraint, LocalConstraint, and WorldConstraint.

Definition at line 97 of file erf_constraint.hpp.

virtual void Constraint::constrainRotation ( Quaternion rotation,
Frame *const   frame 
) [inline, virtual]

Filters the rotation applied to the frame. This default implementation is empty (no filtering).

Overload this method in your own Constraint class to define a new rotation constraint. See constrainTranslation() for details.

Use Frame::inverseTransformOf() on the rotation Quaternion::axis() to express rotation in the world coordinate system if needed.

Reimplemented in AxisPlaneConstraint, LocalConstraint, and WorldConstraint.

Definition at line 103 of file erf_constraint.hpp.


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

The miarn project - written by Joao Xavier