Description of a constraint that limits the position of a point of the robot to a given plan.
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virtual void localPoint (const vector3d &inPoint)=0
Set the point 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 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 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...
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...
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:
where
is a point attached to the joint (specified in the joint's local frame).
is a point in the environment,
is a vector defining the normal to the task plane.