CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint > Class Template Reference

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

Static Public Member Functions

static CjrlGikPositionConstraintcreatePositionConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetWorldPoint)
 Construct and return a pointer to a CjrlGikPositionConstraint. More...
 
static CjrlGikPointingConstraintcreatePointingConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalOrigin, const vector3d &inLocalVector, const vector3d &inTargetWorldPoint)
 Construct and return a pointer to a CjrlGikPointingConstraint. More...
 
static CjrlGikGazeConstraintcreateGazeConstraint (CjrlHumanoidDynamicRobot &inRobot, const vector3d &inGazeTarget)
 Construct and return a pointer to a CjrlGikGazeConstraint. More...
 
static CjrlGikTransformationConstraintcreateTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetWorldPoint, const matrix3d &inTargetOrientation)
 Construct and return a pointer to a CjrlGikTransformationConstraint. More...
 
static CjrlGikTransformationConstraintcreateTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const matrix4d &inTargetWorldTransformation)
 Construct and return a pointer to a CjrlGikTransformationConstraint (transformation matrix) More...
 
static CjrlGikRotationConstraintcreateRotationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const matrix3d &inTargetOrientation)
 Construct and return a pointer to a CjrlGikRotationConstraint. More...
 
static CjrlGikParallelConstraintcreateParallelConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalVector, const vector3d &inTargetWorldVector)
 Construct and return a pointer to a CjrlGikParallelConstraint. More...
 
static CjrlGikPlaneConstraintcreatePlaneConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetPlanePoint, const vector3d &inTargetPlaneNormal)
 Construct and return a pointer to a CjrlGikPlaneConstraint. More...
 
static CjrlGikComConstraintcreateComConstraint (CjrlDynamicRobot &inRobot, double inX, double inY)
 Construct and return a pointer to a CjrlGikComConstraint. More...
 

Member Function Documentation

◆ createComConstraint()

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikComConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createComConstraint ( CjrlDynamicRobot &  inRobot,
double  inX,
double  inY 
)
inlinestatic

Construct and return a pointer to a CjrlGikComConstraint.

Parameters
inRobot: associated robot.
inX: target world X coordinate for the center of mass
inY: target world Y coordinate for the center of mass It is possible to set a 3D CoM target after the object is created through the method targetXYZ()

◆ createGazeConstraint()

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikGazeConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createGazeConstraint ( CjrlHumanoidDynamicRobot &  inRobot,
const vector3d &  inGazeTarget 
)
inlinestatic

Construct and return a pointer to a CjrlGikGazeConstraint.

Parameters
inRobot: associated robot.
inGazeTarget: the point in world frame where the robot is to look.

◆ createParallelConstraint()

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikParallelConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createParallelConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d &  inLocalVector,
const vector3d &  inTargetWorldVector 
)
inlinestatic

Construct and return a pointer to a CjrlGikParallelConstraint.

Parameters
inRobot: associated robot.
inJoint: associated joint.
inLocalVector: vector given in inJoint's frame and to be aligned with inTargetWorldVector.
inTargetWorldVector: target point in the work space.

◆ createPlaneConstraint()

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikPlaneConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createPlaneConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d &  inLocalPoint,
const vector3d &  inTargetPlanePoint,
const vector3d &  inTargetPlaneNormal 
)
inlinestatic

Construct and return a pointer to a CjrlGikPlaneConstraint.

Parameters
inRobot: associated robot.
inJoint: associated joint.
inLocalPoint: point given in joint local frame to be moved to the plane specified by inTargetPlanePoint and inTargetPlaneNormal.
inTargetPlanePoint: a point of the target plane in world frame
inTargetPlaneNormal: a normal vector of the plane in world frame

◆ createPointingConstraint()

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikPointingConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createPointingConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d &  inLocalOrigin,
const vector3d &  inLocalVector,
const vector3d &  inTargetWorldPoint 
)
inlinestatic

Construct and return a pointer to a CjrlGikPointingConstraint.

Parameters
inRobot: associated robot.
inJoint: associated joint.
inLocalOrigin: origin point of the pointing vector (body local frame)
inLocalVector: the pointing vector (body local frame)
inTargetWorldPoint: the point in world frame with which the segment defined by the origin and the pointing vector is to be aligned.

◆ createPositionConstraint()

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikPositionConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createPositionConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d &  inLocalPoint,
const vector3d &  inTargetWorldPoint 
)
inlinestatic

Construct and return a pointer to a CjrlGikPositionConstraint.

Parameters
inRobot: associated robot.
inJoint: associated joint.
inLocalPoint: point given in inJoint's frame and to be moved to inTargetWorldPoint.
inTargetWorldPoint: target point in the work space.

◆ createRotationConstraint()

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikRotationConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createRotationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const matrix3d &  inTargetOrientation 
)
inlinestatic

Construct and return a pointer to a CjrlGikRotationConstraint.

Parameters
inRobot: associated robot.
inJoint: associated joint.
inTargetOrientation: target orientation matrix in world frame

◆ createTransformationConstraint() [1/2]

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikTransformationConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createTransformationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d &  inLocalPoint,
const vector3d &  inTargetWorldPoint,
const matrix3d &  inTargetOrientation 
)
inlinestatic

Construct and return a pointer to a CjrlGikTransformationConstraint.

Parameters
inRobot: associated robot.
inJoint: associated joint.
inLocalPoint: point given in inJoint's frame and to be moved to inTargetWorldPoint.
inTargetWorldPoint: target point in the work space.
inTargetOrientation: target orientation matrix in world frame

◆ createTransformationConstraint() [2/2]

template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikTransformationConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createTransformationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d &  inLocalPoint,
const matrix4d &  inTargetWorldTransformation 
)
inlinestatic

Construct and return a pointer to a CjrlGikTransformationConstraint (transformation matrix)

Parameters
inRobot: associated robot.
inJoint: associated joint.
inLocalPoint: point given in joint frame.
inTargetWorldTransformation: target transformation.