PoseConstraint: Added method for continuous target updates

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@802 042f3d55-54a8-47e9-b7fb-15903f145c44

VirtualRobot/IK/constraints/PoseConstraint.cpp

@@ -109,3 +109,8 @@ std::string PoseConstraint::getConstraintType()
     return "Pose(" + eef->getName() + ")";
 }
 
+void PoseConstraint::updateTarget(const Eigen::Matrix4f &newTarget)
+{
+    target = newTarget;
+}
+

VirtualRobot/IK/constraints/PoseConstraint.h

@@ -51,6 +51,8 @@ namespace VirtualRobot
 
             std::string getConstraintType();
 
+            void updateTarget(const Eigen::Matrix4f &newTarget);
+
         protected:
             RobotPtr robot;
             RobotNodeSetPtr nodeSet;