Description of a constraint that limits the position of a point of the robot to a given plan.
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#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikPlaneConstraint.h>
virtual void localPoint (const vector3d &inPoint)=0
Set the point associated to the constraint.
virtual const vector3d & localPoint ()=0
Get the point associated to the constraint (in joint's local frame).
virtual void worldPlanePoint (const vector3d &inPoint)=0
Set a point of the target plane (in world's frame).
virtual const vector3d & worldPlanePoint ()=0
Get the point of the defined plane (in world's frame).
virtual void worldPlaneNormal (const vector3d &inPoint)=0
Set the normal of the target plane (in world's frame).
virtual const vector3d & worldPlaneNormal ()=0
Get the normal of the defined plane (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.
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.
◆ localPoint() [1/2]
virtual const vector3d & CjrlGikPlaneConstraint::localPoint
(
)
pure virtual
Get the point associated to the constraint (in joint's local frame).
◆ localPoint() [2/2]
virtual void CjrlGikPlaneConstraint::localPoint
(
const vector3d & inPoint )
pure virtual
Set the point associated to the constraint.
◆ worldPlaneNormal() [1/2]
virtual const vector3d & CjrlGikPlaneConstraint::worldPlaneNormal
(
)
pure virtual
Get the normal of the defined plane (in world's frame).
◆ worldPlaneNormal() [2/2]
virtual void CjrlGikPlaneConstraint::worldPlaneNormal
(
const vector3d & inPoint )
pure virtual
Set the normal of the target plane (in world's frame).
◆ worldPlanePoint() [1/2]
virtual const vector3d & CjrlGikPlaneConstraint::worldPlanePoint
(
)
pure virtual
Get the point of the defined plane (in world's frame).
◆ worldPlanePoint() [2/2]
virtual void CjrlGikPlaneConstraint::worldPlanePoint
(
const vector3d & inPoint )
pure virtual
Set a point of the target plane (in world's frame).