Specify a linear constraint over the state of a humanoid robot. More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikStateConstraint.h>
Public Member Functions | |
virtual CjrlGikStateConstraint * | clone () const =0 |
Copy constructor. | |
Definition of the constraint. | |
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. | |
Computations | |
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()). |
Specify a linear constraint over the state of a humanoid robot.
virtual CjrlGikStateConstraint* CjrlGikStateConstraint::clone | ( | ) | const [pure virtual] |
Copy constructor.
virtual void CjrlGikStateConstraint::computeInfluencingDofs | ( | ) | [pure virtual] |
Compute the influencing dofs vector.
virtual void CjrlGikStateConstraint::computeJacobian | ( | ) | [pure virtual] |
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 void CjrlGikStateConstraint::computeValue | ( | ) | [pure virtual] |
Compute the value of the constraint.
virtual vectorN& CjrlGikStateConstraint::influencingDofs | ( | ) | [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.
virtual void CjrlGikStateConstraint::jacobianRoot | ( | CjrlJoint & | inJoint | ) | [pure virtual] |
Select the joint in the robot that serves as root for computation of jacobians.
virtual CjrlDynamicRobot& CjrlGikStateConstraint::robot | ( | ) | [pure virtual] |
Get associated robot.