hpp-constraints  4.15.1
Definition of basic geometric constraints for motion planning
locked-joint.hh
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2 // Authors: Florent Lamiraux, Joseph Mirabel
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28 
29 #ifndef HPP_CONSTRAINTS_LOCKED_JOINT_HH
30 #define HPP_CONSTRAINTS_LOCKED_JOINT_HH
31 
33 #include <hpp/pinocchio/joint.hh>
34 
35 namespace hpp {
36 namespace constraints {
37 
40 
67  public:
69  virtual ImplicitPtr_t copy() const;
70 
74  static LockedJointPtr_t create(const JointPtr_t& joint,
75  const LiegroupElement& value);
76 
83  static LockedJointPtr_t create(const JointPtr_t& joint, const size_type index,
84  vectorIn_t value);
85 
91  static LockedJointPtr_t create(const DevicePtr_t& dev, const size_type index,
92  vectorIn_t value);
93 
96  static LockedJointPtr_t createCopy(LockedJointConstPtr_t other);
97 
99  size_type rankInConfiguration() const;
100 
102  size_type rankInVelocity() const;
103 
105  size_type configSize() const;
106 
108  size_type numberDof() const;
109 
111  const LiegroupSpacePtr_t& configSpace() const;
112 
114  vectorIn_t value() const;
115 
117  void value(vectorIn_t value);
118 
123  HPP_CONSTRAINTS_DEPRECATED void rightHandSideFromConfig(
124  ConfigurationIn_t config);
125 
127  const JointPtr_t& joint() { return joint_; }
129  const std::string& jointName() const { return jointName_; }
131  std::ostream& print(std::ostream& os) const;
132 
141  virtual std::pair<JointConstPtr_t, JointConstPtr_t>
142  doesConstrainRelPoseBetween(DeviceConstPtr_t robot) const;
143 
144  protected:
148  LockedJoint(const JointPtr_t& joint, const LiegroupElement& value);
155  LockedJoint(const JointPtr_t& joint, const size_type index, vectorIn_t value);
161  LockedJoint(const DevicePtr_t& robot, const size_type index,
162  vectorIn_t value);
164  LockedJoint(const LockedJoint& other);
168  virtual bool isEqual(const Implicit& other, bool swapAndTest) const;
169 
170  void init(const LockedJointPtr_t& self);
171 
172  private:
173  std::string jointName_;
174  JointPtr_t joint_;
175  LiegroupSpacePtr_t configSpace_;
177  LockedJointWkPtr_t weak_;
178 
179  LockedJoint() {}
180  HPP_SERIALIZABLE();
181 }; // class LockedJoint
182 
184 inline std::ostream& operator<<(std::ostream& os, const LockedJoint& lj) {
185  return lj.print(os);
186 }
187 } // namespace constraints
188 } // namespace hpp
189 
190 BOOST_CLASS_EXPORT_KEY(hpp::constraints::LockedJoint)
191 #endif // HPP_CONSTRAINTS_LOCKED_JOINT_HH
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:69
Definition: locked-joint.hh:66
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
#define HPP_CONSTRAINTS_DEPRECATED
Definition: deprecated.hh:37
Definition: explicit.hh:132
std::ostream & print(std::ostream &os) const
Print object in a stream.
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
const JointPtr_t & joint()
Return shared pointer to joint.
Definition: locked-joint.hh:127
ComparisonTypes_t operator<<(const ComparisonType &a, const ComparisonType &b)
Definition: comparison-types.hh:61
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::size_type size_type
Definition: fwd.hh:47
const std::string & jointName() const
Return the joint name.
Definition: locked-joint.hh:129
pinocchio::DeviceConstPtr_t DeviceConstPtr_t
Definition: fwd.hh:110
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:208
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:175
Definition: implicit.hh:124
shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:207