Specify a linear constraint over the state of a humanoid robot.
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#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikStateConstraint.h>
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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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Specify a linear constraint over the state of a humanoid robot.
◆ clone()
◆ computeInfluencingDofs()
virtual void CjrlGikStateConstraint::computeInfluencingDofs |
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pure virtual |
Compute the influencing dofs vector.
◆ computeJacobian()
virtual void CjrlGikStateConstraint::computeJacobian |
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pure virtual |
◆ computeValue()
virtual void CjrlGikStateConstraint::computeValue |
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pure virtual |
Compute the value of the constraint.
◆ influencingDofs()
virtual vectorN & CjrlGikStateConstraint::influencingDofs |
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pure virtual |
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.
◆ jacobianRoot()
virtual void CjrlGikStateConstraint::jacobianRoot |
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CjrlJoint & | inJoint | ) |
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pure virtual |
Select the joint in the robot that serves as root for computation of jacobians.
◆ robot()
virtual CjrlDynamicRobot & CjrlGikStateConstraint::robot |
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pure virtual |