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CjrlGikPlaneConstraint Class Referenceabstract

Description of a constraint that limits the position of a point of the robot to a given plan. More...

#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikPlaneConstraint.h>

Inheritance diagram for CjrlGikPlaneConstraint:
Collaboration diagram for CjrlGikPlaneConstraint:

Public Member Functions

virtual void localPoint (const vector3d &inPoint)=0
 Set the point $M$ associated to the constraint. More...
 
virtual const vector3d & localPoint ()=0
 Get the point associated to the constraint (in joint's local frame). More...
 
virtual void worldPlanePoint (const vector3d &inPoint)=0
 Set a point $T$ of the target plane (in world's frame). More...
 
virtual const vector3d & worldPlanePoint ()=0
 Get the point of the defined plane (in world's frame). More...
 
virtual void worldPlaneNormal (const vector3d &inPoint)=0
 Set the normal $\vec{u}$ of the target plane (in world's frame). More...
 
virtual const vector3d & worldPlaneNormal ()=0
 Get the normal of the defined plane (in world's frame). More...
 
- Public Member Functions inherited from CjrlGikJointStateConstraint
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...
 
- Public Member Functions inherited from CjrlGikStateConstraint
virtual CjrlGikStateConstraintclone () 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...
 
- Public Member Functions inherited from CjrlLinearConstraint
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...
 

Detailed Description

Description of a constraint that limits the position of a point of the robot to a given plan.

The constraint is defined by the following equation:

\begin{eqnarray*} \left(\vec{MT} | \vec{u}\right) = 0 \end{eqnarray*}

where

  • $ M$ is a point attached to the joint (specified in the joint's local frame).
  • $ T$ is a point in the environment,
  • $\vec{u}$ is a vector defining the normal to the task plane.

Member Function Documentation

◆ localPoint() [1/2]

virtual const vector3d & CjrlGikPlaneConstraint::localPoint ( )
pure virtual

Get the point associated to the constraint (in joint's local frame).

◆ localPoint() [2/2]

virtual void CjrlGikPlaneConstraint::localPoint ( const vector3d &  inPoint)
pure virtual

Set the point $M$ associated to the constraint.

◆ worldPlaneNormal() [1/2]

virtual const vector3d & CjrlGikPlaneConstraint::worldPlaneNormal ( )
pure virtual

Get the normal of the defined plane (in world's frame).

◆ worldPlaneNormal() [2/2]

virtual void CjrlGikPlaneConstraint::worldPlaneNormal ( const vector3d &  inPoint)
pure virtual

Set the normal $\vec{u}$ of the target plane (in world's frame).

◆ worldPlanePoint() [1/2]

virtual const vector3d & CjrlGikPlaneConstraint::worldPlanePoint ( )
pure virtual

Get the point of the defined plane (in world's frame).

◆ worldPlanePoint() [2/2]

virtual void CjrlGikPlaneConstraint::worldPlanePoint ( const vector3d &  inPoint)
pure virtual

Set a point $T$ of the target plane (in world's frame).