Constraint on a point in a joint to be at a 3D position in the world frame.
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#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikPositionConstraint.h>
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virtual void | localPoint (const vector3d &inPoint)=0 |
| Set the point (in joint's local frame) associated to the constraint.
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virtual const vector3d & | localPoint ()=0 |
| Get the point associated to the constraint (in joint's local frame).
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virtual void | worldTarget (const vector3d &inPoint)=0 |
| Set the target point associated to the constraint (in world's frame).
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virtual const vector3d & | worldTarget ()=0 |
| Get the target point associated to the constraint (in world's frame).
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virtual void | joint (CjrlJoint *inJoint)=0 |
| Set the joint associated to the constraint.
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virtual CjrlJoint * | joint ()=0 |
| Get the joint associated to the constraint.
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virtual CjrlGikStateConstraint * | clone () const =0 |
| Copy constructor.
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virtual CjrlDynamicRobot & | robot ()=0 |
| Get associated robot.
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virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
| Select the joint in the robot that serves as root for computation of jacobians.
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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.
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virtual void | computeInfluencingDofs ()=0 |
| Compute the influencing dofs vector.
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virtual void | computeValue ()=0 |
| Compute the value of the constraint.
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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()).
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virtual unsigned int | dimension () const =0 |
| Get the dimension of the constraint.
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virtual const vectorN & | value ()=0 |
| Get the constraint value.
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virtual const matrixNxP & | jacobian ()=0 |
| Get the constraint Jacobian.
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virtual | ~CjrlLinearConstraint () |
| Destructor.
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Constraint on a point in a joint to be at a 3D position in the world frame.
◆ localPoint() [1/2]
virtual const vector3d & CjrlGikPositionConstraint::localPoint |
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pure virtual |
Get the point associated to the constraint (in joint's local frame).
◆ localPoint() [2/2]
virtual void CjrlGikPositionConstraint::localPoint |
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const vector3d & | inPoint | ) |
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pure virtual |
Set the point (in joint's local frame) associated to the constraint.
◆ worldTarget() [1/2]
virtual const vector3d & CjrlGikPositionConstraint::worldTarget |
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pure virtual |
Get the target point associated to the constraint (in world's frame).
◆ worldTarget() [2/2]
virtual void CjrlGikPositionConstraint::worldTarget |
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const vector3d & | inPoint | ) |
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pure virtual |
Set the target point associated to the constraint (in world's frame).