Constraint on a line segment attached to a body to be aligned with a given point in the world frame.
More...
|
virtual void | localOrigin (const vector3d &inPoint)=0 |
| Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint).
|
|
virtual const vector3d & | localOrigin ()=0 |
| Get the origin of the pointing vector.
|
|
virtual void | localVector (const vector3d &inPoint)=0 |
| Set the pointing vector in joint's local frame (illelgal operation for gaze constraint).
|
|
virtual const vector3d & | localVector ()=0 |
| Set the pointing vector in joint's local frame.
|
|
virtual void | worldTarget (const vector3d &inPoint)=0 |
| Set the target point associated to the constraint (in world's frame).
|
|
virtual const vector3d & | worldTarget ()=0 |
| Get the target point associated to the constraint (in world's frame).
|
|
virtual void | joint (CjrlJoint *inJoint)=0 |
| Set the joint associated to the constraint.
|
|
virtual CjrlJoint * | joint ()=0 |
| Get the joint associated to the constraint.
|
|
virtual CjrlGikStateConstraint * | clone () const =0 |
| Copy constructor.
|
|
virtual CjrlDynamicRobot & | robot ()=0 |
| Get associated robot.
|
|
virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
| Select the joint in the robot that serves as root for computation of jacobians.
|
|
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.
|
|
virtual void | computeInfluencingDofs ()=0 |
| Compute the influencing dofs vector.
|
|
virtual void | computeValue ()=0 |
| Compute the value of the constraint.
|
|
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()).
|
|
virtual unsigned int | dimension () const =0 |
| Get the dimension of the constraint.
|
|
virtual const vectorN & | value ()=0 |
| Get the constraint value.
|
|
virtual const matrixNxP & | jacobian ()=0 |
| Get the constraint Jacobian.
|
|
virtual | ~CjrlLinearConstraint () |
| Destructor.
|
|
Constraint on a line segment attached to a body to be aligned with a given point in the world frame.
The line segment is defined by an origin point and a vector both given in the body's local frame.