00001 /* 00002 * Software License Agreement (Apache License) 00003 * 00004 * Copyright (c) 2013, Southwest Research Institute 00005 * 00006 * Licensed under the Apache License, Version 2.0 (the "License"); 00007 * you may not use this file except in compliance with the License. 00008 * You may obtain a copy of the License at 00009 * 00010 * http://www.apache.org/licenses/LICENSE-2.0 00011 * 00012 * Unless required by applicable law or agreed to in writing, software 00013 * distributed under the License is distributed on an "AS IS" BASIS, 00014 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00015 * See the License for the specific language governing permissions and 00016 * limitations under the License. 00017 */ 00018 00019 00020 #ifndef GOAL_POSE_H 00021 #define GOAL_POSE_H 00022 00023 #include "constrained_ik/constraint.h" 00024 #include "goal_position.h" 00025 #include "goal_orientation.h" 00026 00027 namespace constrained_ik 00028 { 00029 namespace constraints 00030 { 00031 00036 class GoalPose : public ConstraintGroup 00037 { 00038 public: 00039 GoalPose() : ConstraintGroup(), position_(new GoalPosition()), orientation_(new GoalOrientation()) 00040 { 00041 this->add(position_); 00042 this->add(orientation_); 00043 } 00044 virtual ~GoalPose() {}; 00045 void setWeightOrientation(const Eigen::Vector3d &weight_orientation) {orientation_->setWeight(weight_orientation);}; 00046 void setWeightPosition(const Eigen::Vector3d &weight_position) {position_->setWeight(weight_position);}; 00047 protected: 00048 GoalPosition* position_; 00049 GoalOrientation* orientation_; 00050 00051 }; // class GoalPose 00052 00053 } // namespace constraints 00054 } // namespace constrained_ik 00055 00056 00057 #endif // GOAL_POSE_H 00058