Static Public Member Functions |
static CjrlGikPositionConstraint * | createPositionConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetWorldPoint) |
| Construct and return a pointer to a CjrlGikPositionConstraint.
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static CjrlGikPointingConstraint * | createPointingConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalOrigin, const vector3d &inLocalVector, const vector3d &inTargetWorldPoint) |
| Construct and return a pointer to a CjrlGikPointingConstraint.
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static CjrlGikGazeConstraint * | createGazeConstraint (CjrlHumanoidDynamicRobot &inRobot, const vector3d &inGazeTarget) |
| Construct and return a pointer to a CjrlGikGazeConstraint.
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static
CjrlGikTransformationConstraint * | createTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetWorldPoint, const matrix3d &inTargetOrientation) |
| Construct and return a pointer to a CjrlGikTransformationConstraint.
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static
CjrlGikTransformationConstraint * | createTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const matrix4d &inTargetWorldTransformation) |
| Construct and return a pointer to a CjrlGikTransformationConstraint (transformation matrix)
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static CjrlGikRotationConstraint * | createRotationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const matrix3d &inTargetOrientation) |
| Construct and return a pointer to a CjrlGikRotationConstraint.
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static CjrlGikParallelConstraint * | createParallelConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalVector, const vector3d &inTargetWorldVector) |
| Construct and return a pointer to a CjrlGikParallelConstraint.
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static CjrlGikPlaneConstraint * | createPlaneConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetPlanePoint, const vector3d &inTargetPlaneNormal) |
| Construct and return a pointer to a CjrlGikPlaneConstraint.
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static CjrlGikComConstraint * | createComConstraint (CjrlDynamicRobot &inRobot, double inX, double inY) |
| Construct and return a pointer to a CjrlGikComConstraint.
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template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikComConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createComConstraint |
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CjrlDynamicRobot & |
inRobot, |
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double |
inX, |
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double |
inY |
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| [inline, static] |
Construct and return a pointer to a CjrlGikComConstraint.
- Parameters:
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inRobot | : associated robot. |
inX | : target world X coordinate for the center of mass |
inY | : target world Y coordinate for the center of mass It is possible to set a 3D CoM target after the object is created through the method targetXYZ() |
template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikGazeConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createGazeConstraint |
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CjrlHumanoidDynamicRobot & |
inRobot, |
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const vector3d & |
inGazeTarget |
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) |
| [inline, static] |
Construct and return a pointer to a CjrlGikGazeConstraint.
- Parameters:
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inRobot | : associated robot. |
inGazeTarget | : the point in world frame where the robot is to look. |
template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikParallelConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createParallelConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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const vector3d & |
inLocalVector, |
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const vector3d & |
inTargetWorldVector |
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) |
| [inline, static] |
Construct and return a pointer to a CjrlGikParallelConstraint.
- Parameters:
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inRobot | : associated robot. |
inJoint | : associated joint. |
inLocalVector | : vector given in inJoint's frame and to be aligned with inTargetWorldVector. |
inTargetWorldVector | : target point in the work space. |
template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikPlaneConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createPlaneConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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const vector3d & |
inLocalPoint, |
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const vector3d & |
inTargetPlanePoint, |
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const vector3d & |
inTargetPlaneNormal |
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| [inline, static] |
Construct and return a pointer to a CjrlGikPlaneConstraint.
- Parameters:
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inRobot | : associated robot. |
inJoint | : associated joint. |
inLocalPoint | : point given in joint local frame to be moved to the plane specified by inTargetPlanePoint and inTargetPlaneNormal. |
inTargetPlanePoint | : a point of the target plane in world frame |
inTargetPlaneNormal | : a normal vector of the plane in world frame |
template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikPointingConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createPointingConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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const vector3d & |
inLocalOrigin, |
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const vector3d & |
inLocalVector, |
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const vector3d & |
inTargetWorldPoint |
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) |
| [inline, static] |
Construct and return a pointer to a CjrlGikPointingConstraint.
- Parameters:
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inRobot | : associated robot. |
inJoint | : associated joint. |
inLocalOrigin | : origin point of the pointing vector (body local frame) |
inLocalVector | : the pointing vector (body local frame) |
inTargetWorldPoint | : the point in world frame with which the segment defined by the origin and the pointing vector is to be aligned. |
template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikPositionConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createPositionConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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const vector3d & |
inLocalPoint, |
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const vector3d & |
inTargetWorldPoint |
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) |
| [inline, static] |
Construct and return a pointer to a CjrlGikPositionConstraint.
- Parameters:
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inRobot | : associated robot. |
inJoint | : associated joint. |
inLocalPoint | : point given in inJoint's frame and to be moved to inTargetWorldPoint. |
inTargetWorldPoint | : target point in the work space. |
template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikRotationConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createRotationConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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const matrix3d & |
inTargetOrientation |
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) |
| [inline, static] |
Construct and return a pointer to a CjrlGikRotationConstraint.
- Parameters:
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inRobot | : associated robot. |
inJoint | : associated joint. |
inTargetOrientation | : target orientation matrix in world frame |
template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikTransformationConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createTransformationConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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const vector3d & |
inLocalPoint, |
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const vector3d & |
inTargetWorldPoint, |
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const matrix3d & |
inTargetOrientation |
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) |
| [inline, static] |
Construct and return a pointer to a CjrlGikTransformationConstraint.
- Parameters:
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inRobot | : associated robot. |
inJoint | : associated joint. |
inLocalPoint | : point given in inJoint's frame and to be moved to inTargetWorldPoint. |
inTargetWorldPoint | : target point in the work space. |
inTargetOrientation | : target orientation matrix in world frame |
template<class CPlaneConstraint , class CParallelConstraint , class CRotationConstraint , class CPositionConstraint , class CTransformationConstraint , class CPointingConstraint , class CGazeConstraint , class CComConstraint >
static CjrlGikTransformationConstraint* CjrlGikObjectConstructor< CPlaneConstraint, CParallelConstraint, CRotationConstraint, CPositionConstraint, CTransformationConstraint, CPointingConstraint, CGazeConstraint, CComConstraint >::createTransformationConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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const vector3d & |
inLocalPoint, |
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const matrix4d & |
inTargetWorldTransformation |
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) |
| [inline, static] |
Construct and return a pointer to a CjrlGikTransformationConstraint (transformation matrix)
- Parameters:
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inRobot | : associated robot. |
inJoint | : associated joint. |
inLocalPoint | : point given in joint frame. |
inTargetWorldTransformation | : target transformation. |