javax.robotics.engine.clik
Interface ConstraintVelocity

All Known Implementing Classes:

ConstraintFunction, JointStrokeConstraint

public interface ConstraintVelocity

Interface for computing the constraint velocity.

Since:

1.0.2

Author:

Carmine Lia

Method Summary

RVector	compute(RVector q) Computes the constraint velocity q0'.
double	getK0() Gets the velocity constraint gain.
void	setK0(double k0) Sets the velocity constraint gain.

Method Detail

getK0

double getK0()

Gets the velocity constraint gain.

Returns:

the gain value.

setK0

void setK0(double k0)

Sets the velocity constraint gain.

Parameters:

k0 - the gain value to set.

compute

RVector compute(RVector q)

Computes the constraint velocity q0'.

Parameters:

q - the joints position.

Returns:

the current value of constraint.