Constraint on a vector in a joint frame to be parallel to a vector given in world frame. More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikParallelConstraint.h>


Public Member Functions | |
| virtual void | localVector (const vector3d &inVector)=0 |
| Set the vector | |
| virtual const vector3d & | localVector ()=0 |
| Get the vector associated to the constraint (in joint's local frame). | |
| virtual void | targetVector (const vector3d &inVector)=0 |
| Set the target vector | |
| virtual const vector3d & | targetVector ()=0 |
| Get the target vector associated to the constraint. | |
Public Member Functions inherited from CjrlGikJointStateConstraint | |
| virtual void | joint (CjrlJoint *inJoint)=0 |
| Set the joint associated to the constraint. | |
| virtual CjrlJoint * | joint ()=0 |
| Get the joint associated to the constraint. | |
Public Member Functions inherited from CjrlGikStateConstraint | |
| virtual CjrlGikStateConstraint * | clone () const =0 |
| Copy constructor. | |
| virtual CjrlDynamicRobot & | robot ()=0 |
| Get associated robot. | |
| virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
| Select the joint in the robot that serves as root for computation of jacobians. | |
| 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. | |
| virtual void | computeInfluencingDofs ()=0 |
| Compute the influencing dofs vector. | |
| virtual void | computeValue ()=0 |
| Compute the value of the constraint. | |
| 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()). | |
Public Member Functions inherited from CjrlLinearConstraint | |
| virtual unsigned int | dimension () const =0 |
| Get the dimension of the constraint. | |
| virtual const vectorN & | value ()=0 |
| Get the constraint value. | |
| virtual const matrixNxP & | jacobian ()=0 |
| Get the constraint Jacobian. | |
| virtual | ~CjrlLinearConstraint () |
| Destructor. | |
Constraint on a vector in a joint frame to be parallel to a vector given in world frame.
The constraint is defined by the following equation:

where


|
pure virtual |
Get the vector associated to the constraint (in joint's local frame).
|
pure virtual |
Set the vector 
|
pure virtual |
Get the target vector associated to the constraint.
|
pure virtual |
Set the target vector 