CjrlGikStateConstraint Class Reference

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>

Inheritance diagram for CjrlGikStateConstraint:
Collaboration diagram for CjrlGikStateConstraint:

List of all members.

Public Member Functions

virtual CjrlGikStateConstraintclone () 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()).

Detailed Description

Specify a linear constraint over the state of a humanoid robot.


Member Function Documentation

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.