Specify a position and orientation constraint on a body of the robot.
More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikTransformationConstraint.h>
|
virtual void | localPoint (const vector3d &inPoint)=0 |
| Set the point (in joint's local frame) 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 | 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...
|
|
virtual void | targetOrientation (const matrix3d &inRot)=0 |
| Set the target orientation for this constraint. More...
|
|
virtual const matrix3d & | targetOrientation ()=0 |
| Get the target orientation. More...
|
|
virtual void | targetTransformation (const matrix4d &inTransform)=0 |
| Set the target transformation for this constraint. More...
|
|
virtual const matrix4d & | targetTransformation ()=0 |
| Get the target transformation. More...
|
|
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...
|
|
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...
|
|
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...
|
|
Specify a position and orientation constraint on a body of the robot.
◆ localPoint() [1/2]
virtual const vector3d & CjrlGikTransformationConstraint::localPoint |
( |
| ) |
|
|
pure virtual |
Get the point associated to the constraint (in joint's local frame).
◆ localPoint() [2/2]
virtual void CjrlGikTransformationConstraint::localPoint |
( |
const vector3d & |
inPoint | ) |
|
|
pure virtual |
Set the point (in joint's local frame) associated to the constraint.
◆ targetOrientation() [1/2]
virtual const matrix3d & CjrlGikTransformationConstraint::targetOrientation |
( |
| ) |
|
|
pure virtual |
Get the target orientation.
◆ targetOrientation() [2/2]
virtual void CjrlGikTransformationConstraint::targetOrientation |
( |
const matrix3d & |
inRot | ) |
|
|
pure virtual |
Set the target orientation for this constraint.
◆ targetTransformation() [1/2]
virtual const matrix4d & CjrlGikTransformationConstraint::targetTransformation |
( |
| ) |
|
|
pure virtual |
Get the target transformation.
◆ targetTransformation() [2/2]
virtual void CjrlGikTransformationConstraint::targetTransformation |
( |
const matrix4d & |
inTransform | ) |
|
|
pure virtual |
Set the target transformation for this constraint.
◆ worldTarget() [1/2]
virtual const vector3d & CjrlGikTransformationConstraint::worldTarget |
( |
| ) |
|
|
pure virtual |
Get the target point associated to the constraint (in world's frame).
◆ worldTarget() [2/2]
virtual void CjrlGikTransformationConstraint::worldTarget |
( |
const vector3d & |
inPoint | ) |
|
|
pure virtual |
Set the target point associated to the constraint (in world's frame).