Allows the hand to move back and forth in a cone around its pre-defined approach direction; 3 variables. More...
#include <searchStateImpl.h>
Public Member Functions | |
| transf | getCoreTran () const |
| Get the transform set by the current values of the variables stored here. | |
| StateType | getType () const |
| PositionStateApproach (const Hand *h) | |
| void | setTran (const transf &t) |
| Set the internal variables to match the given transform. | |
Protected Member Functions | |
| void | createVariables () |
| Implementations of VariableSet that know what purpose they serve will implement this. | |
Allows the hand to move back and forth in a cone around its pre-defined approach direction; 3 variables.
One variable specifies how much the hand moves back and forth along its approach direction. The other two variables, which are angular, define a cone around the approach direction that the hand can move in. This is used with the on-line planner, where a reference hand position is specified externally.
Definition at line 133 of file searchStateImpl.h.
| PositionStateApproach::PositionStateApproach | ( | const Hand * | h | ) | [inline] |
Definition at line 138 of file searchStateImpl.h.
| void PositionStateApproach::createVariables | ( | ) | [protected, virtual] |
Implementations of VariableSet that know what purpose they serve will implement this.
Implements VariableSet.
Definition at line 257 of file searchStateImpl.cpp.
| transf PositionStateApproach::getCoreTran | ( | ) | const [virtual] |
Get the transform set by the current values of the variables stored here.
Implements PositionState.
Definition at line 263 of file searchStateImpl.cpp.
| StateType PositionStateApproach::getType | ( | ) | const [inline, virtual] |
Implements VariableSet.
Definition at line 139 of file searchStateImpl.h.
| void PositionStateApproach::setTran | ( | const transf & | t | ) | [virtual] |
Set the internal variables to match the given transform.
Not all implementations have this implemented correctly.
Implements PositionState.
Definition at line 272 of file searchStateImpl.cpp.
