Specify a position and orientation constraint on a body of the robot.
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#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikTransformationConstraint.h>
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| virtual void | localPoint (const vector3d &inPoint)=0 |
| | Set the point (in joint's local frame) associated to the constraint.
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| virtual const vector3d & | localPoint ()=0 |
| | Get the point associated to the constraint (in joint's local frame).
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| virtual void | worldTarget (const vector3d &inPoint)=0 |
| | Set the target point associated to the constraint (in world's frame).
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| virtual const vector3d & | worldTarget ()=0 |
| | Get the target point associated to the constraint (in world's frame).
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| virtual void | targetOrientation (const matrix3d &inRot)=0 |
| | Set the target orientation for this constraint.
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| virtual const matrix3d & | targetOrientation ()=0 |
| | Get the target orientation.
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| virtual void | targetTransformation (const matrix4d &inTransform)=0 |
| | Set the target transformation for this constraint.
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| virtual const matrix4d & | targetTransformation ()=0 |
| | Get the target transformation.
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| virtual void | joint (CjrlJoint *inJoint)=0 |
| | Set the joint associated to the constraint.
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| virtual CjrlJoint * | joint ()=0 |
| | Get the joint associated to the constraint.
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| virtual CjrlGikStateConstraint * | clone () const =0 |
| | Copy constructor.
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| virtual CjrlDynamicRobot & | robot ()=0 |
| | Get associated robot.
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| virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
| | Select the joint in the robot that serves as root for computation of jacobians.
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| 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.
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| virtual void | computeInfluencingDofs ()=0 |
| | Compute the influencing dofs vector.
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| virtual void | computeValue ()=0 |
| | Compute the value of the constraint.
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| 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()).
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| virtual unsigned int | dimension () const =0 |
| | Get the dimension of the constraint.
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| virtual const vectorN & | value ()=0 |
| | Get the constraint value.
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| virtual const matrixNxP & | jacobian ()=0 |
| | Get the constraint Jacobian.
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| virtual | ~CjrlLinearConstraint () |
| | Destructor.
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Specify a position and orientation constraint on a body of the robot.
◆ localPoint() [1/2]
| virtual const vector3d & CjrlGikTransformationConstraint::localPoint |
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pure virtual |
Get the point associated to the constraint (in joint's local frame).
◆ localPoint() [2/2]
| virtual void CjrlGikTransformationConstraint::localPoint |
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const vector3d & |
inPoint | ) |
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pure virtual |
Set the point (in joint's local frame) associated to the constraint.
◆ targetOrientation() [1/2]
| virtual const matrix3d & CjrlGikTransformationConstraint::targetOrientation |
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pure virtual |
Get the target orientation.
◆ targetOrientation() [2/2]
| virtual void CjrlGikTransformationConstraint::targetOrientation |
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const matrix3d & |
inRot | ) |
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pure virtual |
Set the target orientation for this constraint.
◆ targetTransformation() [1/2]
| virtual const matrix4d & CjrlGikTransformationConstraint::targetTransformation |
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pure virtual |
Get the target transformation.
◆ targetTransformation() [2/2]
| virtual void CjrlGikTransformationConstraint::targetTransformation |
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const matrix4d & |
inTransform | ) |
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pure virtual |
Set the target transformation for this constraint.
◆ worldTarget() [1/2]
| virtual const vector3d & CjrlGikTransformationConstraint::worldTarget |
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pure virtual |
Get the target point associated to the constraint (in world's frame).
◆ worldTarget() [2/2]
| virtual void CjrlGikTransformationConstraint::worldTarget |
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const vector3d & |
inPoint | ) |
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pure virtual |
Set the target point associated to the constraint (in world's frame).