#include <hpp/model/joint-configuration.hh>

Inheritance diagram for hpp::model::AnchorJointConfig:

Collaboration diagram for hpp::model::AnchorJointConfig:

Public Member Functions
	AnchorJointConfig ()

virtual	~AnchorJointConfig ()

virtual void	interpolate (ConfigurationIn_t, ConfigurationIn_t, const value_type &, const size_type &, ConfigurationOut_t)
	Interpolate two configurations of the joint. More...

virtual value_type	distance (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &index) const
	Distance between two configurations of the joint. More...

virtual void	integrate (ConfigurationIn_t q, vectorIn_t v, const size_type &indexConfig, const size_type &indexVelocity, ConfigurationOut_t result) const
	Integrate constant derivative during unit time. More...

virtual void	difference (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &indexConfig, const size_type &indexVelocity, vectorOut_t result) const
	Difference between two configurations. More...

virtual void	uniformlySample (const size_type &index, ConfigurationOut_t result) const
	Uniformly sample the configuration space of the joint. More...

Public Member Functions inherited from hpp::model::JointConfiguration
	JointConfiguration (size_type configSize)
	Constructor. More...

virtual	~JointConfiguration ()
	Destructor. More...

void	isBounded (size_type rank, bool bounded)

bool	isBounded (size_type rank) const
	Get whether given degree of freedom is bounded. More...

value_type	lowerBound (size_type rank) const
	Get lower bound of given degree of freedom. More...

value_type	upperBound (size_type rank) const
	Get upper bound of given degree of freedom. More...

void	lowerBound (size_type rank, value_type lowerBound)
	Set lower bound of given degree of freedom. More...

void	upperBound (size_type rank, value_type upperBound)
	Set upper bound of given degree of freedom. More...

Detailed Description

Configuration of a JointAnchor.

Constructor & Destructor Documentation

hpp::model::AnchorJointConfig::AnchorJointConfig ( )

virtual hpp::model::AnchorJointConfig::~AnchorJointConfig ( )

virtual

Member Function Documentation

virtual void hpp::model::AnchorJointConfig::difference	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const size_type &	indexConfig,
		const size_type &	indexVelocity,
		vectorOut_t	result
	)		const

virtual

Difference between two configurations.

Parameters

q1	configuration,
q2	configuration,
indexConfig	index of first component of q corresponding to the joint.
indexVelocity	index of first component of v corresponding to the joint

Return values

result[indexVelocity:indexVelocity+nbdofs] part of vector representing the difference between q1 and q2.

See derived classes for details

Implements hpp::model::JointConfiguration.

virtual value_type hpp::model::AnchorJointConfig::distance	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const size_type &	index
	)		const

virtual

Distance between two configurations of the joint.

Parameters

q1,q2	two configurations of the robot
index	index of first component of q1 and q2 corresponding to the joint.

Returns: 0

Implements hpp::model::JointConfiguration.

virtual void hpp::model::AnchorJointConfig::integrate	(	ConfigurationIn_t	q,
		vectorIn_t	v,
		const size_type &	indexConfig,
		const size_type &	indexVelocity,
		ConfigurationOut_t	result
	)		const

virtual

Integrate constant derivative during unit time.

Parameters

q	initial configuration
v	joint velocity
indexConfig	index of first component of q corresponding to the joint.
indexVelocity	index of first component of v corresponding to the joint

Return values

result write joint configuration in result [indexConfig:indexConfig + joint config size]

Note: if result is beying bounds, return active bound.

Implements hpp::model::JointConfiguration.

virtual void hpp::model::AnchorJointConfig::interpolate	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const value_type &	u,
		const size_type &	index,
		ConfigurationOut_t	result
	)

virtual

Interpolate two configurations of the joint.

Parameters

q1,q2,two	configurations to interpolate
u	in [0,1] position along the interpolation: q1 for u=0, q2 for u=1
index	index of first component of q1 and q2 corresponding to the joint.

Return values

result write joint configuration in result [index:index+nb dofs]

q1 and q2 are configurations of the robot where coordinates between index and index + number of dofs - 1 correspond to the configuration of the joint:

a real value for translation joint and bounded rotation joints,
an angle for unbounded rotation joints,
x, y, z, roll, pitch, yaw for freeflyer joints.

Implements hpp::model::JointConfiguration.

virtual void hpp::model::AnchorJointConfig::uniformlySample	(	const size_type &	index,
		ConfigurationOut_t	result
	)		const

virtual

Uniformly sample the configuration space of the joint.

Parameters

index index of first component of q corresponding to the joint.

Return values

result write joint configuration in result [index:index+nb dofs]

Implements hpp::model::JointConfiguration.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation