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hpp-constraints 6.0.0
Definition of basic geometric constraints for motion planning
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#include <hpp/constraints/explicit/relative-pose.hh>


Public Member Functions | |
| virtual ImplicitPtr_t | copy () const |
| Copy object and return shared pointer to copy. | |
| virtual void | outputValue (LiegroupElementRef result, vectorIn_t qin, LiegroupElementConstRef rhs) const |
| virtual void | jacobianOutputValue (vectorIn_t qin, LiegroupElementConstRef f_value, LiegroupElementConstRef rhs, matrixOut_t jacobian) const |
Public Member Functions inherited from hpp::constraints::Explicit | |
| DifferentiableFunctionPtr_t | explicitFunction () const |
| const segments_t & | outputConf () const |
| Get output configuration variables. | |
| const segments_t & | outputVelocity () const |
| Get output degrees of freedom. | |
| const segments_t & | inputConf () const |
| Get input configuration variables. | |
| const segments_t & | inputVelocity () const |
| Get input degrees of freedom. | |
Public Member Functions inherited from hpp::constraints::Implicit | |
| bool | operator== (const Implicit &other) const |
| Operator equality. | |
| virtual | ~Implicit () |
| const ComparisonTypes_t & | comparisonType () const |
| Return the ComparisonType. | |
| void | comparisonType (const ComparisonTypes_t &comp) |
| Set the comparison type. | |
| const segments_t & | activeRows () const |
| bool | checkAllRowsActive () const |
| Check if all rows are active (no inactive rows) | |
| const Eigen::RowBlockIndices & | equalityIndices () const |
| Get indices of constraint coordinates that are equality. | |
| void | setInactiveRowsToZero (vectorOut_t error) const |
| DifferentiableFunction & | function () const |
Return a reference to function ![]() | |
| const DifferentiableFunctionPtr_t & | functionPtr () const |
Return a reference to function ![]() | |
| virtual std::pair< JointConstPtr_t, JointConstPtr_t > | doesConstrainRelPoseBetween (DeviceConstPtr_t robot) const |
| void | rightHandSideFromConfig (ConfigurationIn_t config, LiegroupElementRef rhs) |
| bool | checkRightHandSide (LiegroupElementConstRef rhs) const |
| size_type | parameterSize () const |
| size_type | rightHandSideSize () const |
| void | rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF) |
| const DifferentiableFunctionPtr_t & | rightHandSideFunction () const |
| vectorIn_t | rightHandSideAt (const value_type &s) |
Static Public Member Functions | |
| static RelativePosePtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3s &frame1, const Transform3s &frame2, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >()) |
| static RelativePosePtr_t | createCopy (const RelativePosePtr_t &other) |
Static Public Member Functions inherited from hpp::constraints::Explicit | |
| static ExplicitPtr_t | create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t(), std::vector< bool > mask=std::vector< bool >()) |
| static ExplicitPtr_t | createCopy (const ExplicitPtr_t &other) |
| Create a copy and return shared pointer. | |
Static Public Member Functions inherited from hpp::constraints::Implicit | |
| static ImplicitPtr_t | create (const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >()) |
| static ImplicitPtr_t | createCopy (const ImplicitPtr_t &other) |
| Create a copy and return shared pointer. | |
Protected Member Functions | |||
| RelativePose (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3s &frame1, const Transform3s &frame2, ComparisonTypes_t comp=ComparisonTypes_t(), std::vector< bool > mask=std::vector< bool >(6, true)) | |||
| RelativePose (const RelativePose &other) | |||
| Copy constructor. | |||
| void | init (RelativePoseWkPtr_t weak) | ||
| Store weak pointer to itself. | |||
Protected Member Functions inherited from hpp::constraints::Explicit | |||
| Explicit (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask) | |||
| Explicit (const DifferentiableFunctionPtr_t &implicitFunction, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask) | |||
(const LiegroupSpacePtr_t&, constDifferentiableFunctionPtr_t&, const segments_t& inputConf, constsegments_t& outputConf, const segments_t& inputVelocity, constsegments_t&, const ComparisonTypes_t&);
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| Explicit (const Explicit &other) | |||
| Copy constructor. | |||
| bool | isEqual (const Implicit &other, bool swapAndTest) const | ||
| void | init (const ExplicitWkPtr_t &weak) | ||
| Explicit () | |||
Protected Member Functions inherited from hpp::constraints::Implicit | |||
| Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask) | |||
| Implicit (const Implicit &other) | |||
| Copy constructor. | |||
| void | init (const ImplicitWkPtr_t &weak) | ||
| Implicit () | |||
Additional Inherited Members | |
Protected Attributes inherited from hpp::constraints::Explicit | |
| DifferentiableFunctionPtr_t | inputToOutput_ |
| segments_t | inputConf_ |
| segments_t | outputConf_ |
| segments_t | inputVelocity_ |
| segments_t | outputVelocity_ |
Constraint of relative pose between two frames on a kinematic chain
Given an input configuration 
![\[
\mathbf{q}_{out} = g(\mathbf{q}_{in})
\]](form_94.png)
where 


![\[
f(\mathbf{q}) = \mathbf{q}_{out} - g(\mathbf{q}_{in}).
\]](form_98.png)

![\[
f(\mathbf{q}) = \log_{SE(3)}\left(g(\mathbf{q}_{in})^{-1}
\mathbf{q}_{out}\right)
\]](form_99.png)


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protected |
Constructor
| name | the name of the constraints, |
| robot | the robot the constraints is applied to, |
| joint1 | the first joint the transformation of which is constrained, |
| joint2 | the second joint the transformation of which is constrained, |
| frame1 | position of a fixed frame in joint 1, |
| frame2 | position of a fixed frame in joint 2, |
| comp | vector of comparison types |
| mask | mask defining which components of the error are taken into account to determine whether the constraint is satisfied. |
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protected |
Copy constructor.
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virtual |
Copy object and return shared pointer to copy.
Reimplemented from hpp::constraints::Explicit.
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static |
Create instance and return shared pointer
| name | the name of the constraints, |
| robot | the robot the constraints is applied to, |
| joint1 | the first joint the transformation of which is constrained, |
| joint2 | the second joint the transformation of which is constrained, |
| frame1 | position of a fixed frame in joint 1, |
| frame2 | position of a fixed frame in joint 2, |
| comp | vector of comparison types |
| mask | mask defining which components of the error are taken into account to determine whether the constraint is satisfied. |
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static |
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protected |
Store weak pointer to itself.
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virtual |
Compute Jacobian of output value

| qin | vector of input variables, |
| f_value | ![]() |
| rhs | right hand side (of implicit formulation). |
Reimplemented from hpp::constraints::Explicit.
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virtual |
Compute the value of the output configuration variables
| qin | input configuration variables, |
| rhs | right hand side of constraint |

where 

Reimplemented from hpp::constraints::Explicit.