Specify a full or partial position constraint on the center of mass. More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikComConstraint.h>
Public Member Functions | |
| virtual void | targetXY (double inX, double inY)=0 |
| Set a constraint on Xcom and Ycom (in world's frame). More... | |
| virtual void | targetXYZ (const vectorN &inTarget)=0 |
| Set constraint on x,y,z of com (in world's frame). More... | |
| virtual const vectorN & | worldTarget ()=0 |
| Get the target point associated to the constraint (in world's frame). More... | |
 Public Member Functions inherited from CjrlGikStateConstraint | |
| virtual CjrlGikStateConstraint * | clone () const =0 |
| Copy constructor. More... | |
| virtual CjrlDynamicRobot & | robot ()=0 |
| Get associated robot. More... | |
| virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
| Select the joint in the robot that serves as root for computation of jacobians. More... | |
| virtual vectorN & | influencingDofs ()=0 |
| Get the influencing dofs vector which is a binary vector whose size matches the robot cnfiguration's, where an element with value 1 indicates that the corresponding degree of freedom can modify the value of this constraint and an element with value 0 cannot. More... | |
| virtual void | computeInfluencingDofs ()=0 |
| Compute the influencing dofs vector. More... | |
| virtual void | computeValue ()=0 |
| Compute the value of the constraint. More... | |
| virtual void | computeJacobian ()=0 |
| Compute the Jacobian of the constraint with respect to the internal degrees of freedom and to a selected root joint (see method CjrlGikStateConstraint::jacobianRoot()). More... | |
| Public Member Functions inherited from CjrlLinearConstraint | |
| virtual unsigned int | dimension () const =0 |
| Get the dimension of the constraint. More... | |
| virtual const vectorN & | value ()=0 |
| Get the constraint value. More... | |
| virtual const matrixNxP & | jacobian ()=0 |
| Get the constraint Jacobian. More... | |
| virtual | ~CjrlLinearConstraint () |
| Destructor. More... | |
Specify a full or partial position constraint on the center of mass.
Default target position is two-dimensional and is defined by X and Y in world frame.
|
pure virtual |
Set a constraint on Xcom and Ycom (in world's frame).
|
pure virtual |
Set constraint on x,y,z of com (in world's frame).
|
pure virtual |
Get the target point associated to the constraint (in world's frame).
Returned vector can be either 2D or 3D depending on assigned target
