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ConstrainedPosition.md

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class ConstrainedPosition

Member values

Member name Data type Description
target_position Position Cartesian position
constraint CartesianTrajectoryConstraint Constraint to apply to the target position

Member functions

Function name Return type Input type Description
has_target_position() const bool void Returns true if target_position is set.
target_position() const Position& void Returns the current value of target_position. If target_position is not set, returns a Position with none of its fields set (possibly target_position::default_instance()).
mutable_target_position() Position * void Returns a pointer to the mutable Position object that stores the field's value. If the field was not set prior to the call, then the returned Position will have none of its fields set (i.e. it will be identical to a newly-allocated Position). After calling this, has_target_position() will return true and target_position() will return a reference to the same instance of Position.
clear_target_position() void void Clears the value of the field. After calling this, has_target_position() will return false and target_position() will return the default value.
set_allocated_target_position() void Position * Sets the Position object to the field and frees the previous field value if it exists. If the Position pointer is not NULL, the message takes ownership of the allocated Position object and has_ Position() will return true. Otherwise, if the target_position is NULL, the behavior is the same as calling clear_target_position().
release_target_position() Position * void Releases the ownership of the field and returns the pointer of the Position object. After calling this, caller takes the ownership of the allocated Position object, has_target_position() will return false, and target_position() will return the default value.
has_constraint() const bool void Returns true if constraint is set.
constraint() const CartesianTrajectoryConstraint& void Returns the current value of constraint. If constraint is not set, returns a CartesianTrajectoryConstraint with none of its fields set (possibly constraint::default_instance()).
mutable_constraint() CartesianTrajectoryConstraint * void Returns a pointer to the mutable CartesianTrajectoryConstraint object that stores the field's value. If the field was not set prior to the call, then the returned CartesianTrajectoryConstraint will have none of its fields set (i.e. it will be identical to a newly-allocated CartesianTrajectoryConstraint). After calling this, has_constraint() will return true and constraint() will return a reference to the same instance of CartesianTrajectoryConstraint.
clear_constraint() void void Clears the value of the field. After calling this, has_constraint() will return false and constraint() will return the default value.
set_allocated_constraint() void CartesianTrajectoryConstraint * Sets the CartesianTrajectoryConstraint object to the field and frees the previous field value if it exists. If the CartesianTrajectoryConstraint pointer is not NULL, the message takes ownership of the allocated CartesianTrajectoryConstraint object and has_ CartesianTrajectoryConstraint() will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear_constraint().
release_constraint() CartesianTrajectoryConstraint * void Releases the ownership of the field and returns the pointer of the CartesianTrajectoryConstraint object. After calling this, caller takes the ownership of the allocated CartesianTrajectoryConstraint object, has_constraint() will return false, and constraint() will return the default value.

Parent topic: Base (C++)