This is a PointingConstraint whose joint is the humanoid robot's gaze joint. More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikGazeConstraint.h>
Public Member Functions | |
virtual void | joint (CjrlJoint *inJoint) |
Set the joint associated to the constraint (should be an illelgal operation for gaze constraint). More... | |
virtual void | localOrigin (const vector3d &inPoint) |
Set the origin of the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint). More... | |
virtual void | localVector (const vector3d &inPoint) |
Set the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint). More... | |
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virtual void | localOrigin (const vector3d &inPoint)=0 |
Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint). More... | |
virtual const vector3d & | localOrigin ()=0 |
Get the origin of the pointing vector. More... | |
virtual void | localVector (const vector3d &inPoint)=0 |
Set the pointing vector in joint's local frame (illelgal operation for gaze constraint). More... | |
virtual const vector3d & | localVector ()=0 |
Set the pointing vector in joint's local frame. More... | |
virtual void | worldTarget (const vector3d &inPoint)=0 |
Set the target point associated to the constraint (in world's frame). More... | |
virtual const vector3d & | worldTarget ()=0 |
Get the target point associated to the constraint (in world's frame). More... | |
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virtual void | joint (CjrlJoint *inJoint)=0 |
Set the joint associated to the constraint. More... | |
virtual CjrlJoint * | joint ()=0 |
Get the joint associated to the constraint. More... | |
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virtual CjrlGikStateConstraint * | clone () const =0 |
Copy constructor. More... | |
virtual CjrlDynamicRobot & | robot ()=0 |
Get associated robot. More... | |
virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
Select the joint in the robot that serves as root for computation of jacobians. More... | |
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. More... | |
virtual void | computeInfluencingDofs ()=0 |
Compute the influencing dofs vector. More... | |
virtual void | computeValue ()=0 |
Compute the value of the constraint. More... | |
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()). More... | |
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virtual unsigned int | dimension () const =0 |
Get the dimension of the constraint. More... | |
virtual const vectorN & | value ()=0 |
Get the constraint value. More... | |
virtual const matrixNxP & | jacobian ()=0 |
Get the constraint Jacobian. More... | |
virtual | ~CjrlLinearConstraint () |
Destructor. More... | |
This is a PointingConstraint whose joint is the humanoid robot's gaze joint.
Only the target point in the world is provided.
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inlinevirtual |
Set the joint associated to the constraint (should be an illelgal operation for gaze constraint).
Implements CjrlGikJointStateConstraint.
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inlinevirtual |
Set the origin of the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).
Implements CjrlGikPointingConstraint.
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inlinevirtual |
Set the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).
Implements CjrlGikPointingConstraint.