CjrlGikRotationConstraint Class Referenceabstract

Constraint on the orientation matrix of a joint to change to a given orientation matrix. More...

#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikRotationConstraint.h>

Inheritance diagram for CjrlGikRotationConstraint:
Collaboration diagram for CjrlGikRotationConstraint:

Public Member Functions

virtual void targetOrientation (const matrix3d &inRot)=0
 Set the target orientation for this constraint. More...
 
virtual const matrix3d & targetOrientation ()=0
 Get the point associated to the constraint (in joint's local frame). More...
 
- Public Member Functions inherited from CjrlGikJointStateConstraint
virtual void joint (CjrlJoint *inJoint)=0
 Set the joint associated to the constraint. More...
 
virtual CjrlJoint * joint ()=0
 Get the joint associated to the constraint. More...
 
- Public Member Functions inherited from CjrlGikStateConstraint
virtual CjrlGikStateConstraintclone () 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...
 

Detailed Description

Constraint on the orientation matrix of a joint to change to a given orientation matrix.

Member Function Documentation

◆ targetOrientation() [1/2]

virtual void CjrlGikRotationConstraint::targetOrientation ( const matrix3d &  inRot)
pure virtual

Set the target orientation for this constraint.

◆ targetOrientation() [2/2]

virtual const matrix3d& CjrlGikRotationConstraint::targetOrientation ( )
pure virtual

Get the point associated to the constraint (in joint's local frame).