Implementation of some commom functions in CjrlGikJointStateConstraint.
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#include <hpp/gik/constraint/joint-state-constraint.hh>
Implementation of some commom functions in CjrlGikJointStateConstraint.
ChppGikJointStateConstraint::ChppGikJointStateConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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unsigned int |
inDimension |
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) |
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Constructor.
- Parameters
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inRobot | Reference to the robot the constraint is associated to. |
inJoint | Reference to the joint the constraint is associated to. |
inDimension | of the constraint. |
virtual void ChppGikJointStateConstraint::computeInfluencingDofs |
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| ) |
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virtual |
Compute 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.
virtual unsigned int ChppGikJointStateConstraint::dimension |
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| ) |
const |
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virtual |
Get the dimension of the constraint.
virtual vectorN& ChppGikJointStateConstraint::influencingDofs |
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| ) |
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virtual |
Get the influencing dofs.
virtual const matrixNxP& ChppGikJointStateConstraint::jacobian |
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virtual |
Get the constraint jacobian.
virtual void ChppGikJointStateConstraint::jacobianRoot |
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CjrlJoint & |
inJoint | ) |
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virtual |
virtual void ChppGikJointStateConstraint::joint |
( |
CjrlJoint * |
inJoint | ) |
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virtual |
virtual CjrlJoint* ChppGikJointStateConstraint::joint |
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inlinevirtual |
Get the joint associated to the constraint.
virtual CjrlDynamicRobot& ChppGikJointStateConstraint::robot |
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| ) |
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inlinevirtual |
Get robot associated to the constraint.
virtual const vectorN& ChppGikJointStateConstraint::value |
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virtual |
Get the constraint value.
vectorN ChppGikJointStateConstraint::attInfluencingDofs |
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protected |
matrixNxP ChppGikJointStateConstraint::attJacobian |
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protected |
CjrlJoint* ChppGikJointStateConstraint::attRootJoint |
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protected |
vectorN ChppGikJointStateConstraint::attValue |
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protected |