Motion constraint on link. More...

Inheritance diagram for trajopt::CartVelCntInfo:

Public Member Functions
void	fromJson (const Value &v)

void	hatch (TrajOptProb &prob)

Public Member Functions inherited from trajopt::TermInfo
virtual void	fromJson (const Json::Value &v)=0

Public Attributes
int	first_step

int	last_step

KinBody::LinkPtr	link

double	max_displacement

Public Attributes inherited from trajopt::TermInfo
string	name

TermType	term_type

Additional Inherited Members
Public Types inherited from trajopt::TermInfo
typedef TermInfoPtr(*	MakerFunc )(void)
	Registers a user-defined TermInfo so you can use your own cost see function RegisterMakers.cpp.

Static Public Member Functions inherited from trajopt::TermInfo
static TermInfoPtr	fromName (const string &type)

static void	RegisterMaker (const std::string &type, MakerFunc)

Detailed Description

Motion constraint on link.

Constrains the change in position of the link in each timestep to be less than max_displacement

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

Public Member Functions