Basic expression representing a point in a joint frame. More...
#include <hpp/constraints/tools.hh>
Public Member Functions | |
PointInJoint () | |
PointInJoint (const CalculusBase< PointInJoint > &other) | |
PointInJoint (const PointInJoint &pointInJoint) | |
PointInJoint (const JointPtr_t &joint, const vector3_t &pointInLocalFrame) | |
const JointPtr_t & | joint () const |
const vector3_t & | local () const |
void | computeValue () |
void | computeJacobian () |
void | computeCrossRXl () |
Protected Attributes | |
JointPtr_t | joint_ |
vector3_t | local_ |
bool | center_ |
vector3_t | g_ |
Basic expression representing a point in a joint frame.
hpp::constraints::PointInJoint::PointInJoint | ( | ) | [inline] |
hpp::constraints::PointInJoint::PointInJoint | ( | const CalculusBase< PointInJoint > & | other | ) | [inline] |
hpp::constraints::PointInJoint::PointInJoint | ( | const PointInJoint & | pointInJoint | ) | [inline] |
hpp::constraints::PointInJoint::PointInJoint | ( | const JointPtr_t & | joint, |
const vector3_t & | pointInLocalFrame | ||
) | [inline] |
void hpp::constraints::PointInJoint::computeCrossRXl | ( | ) | [inline] |
References center_, hpp::constraints::computeCrossMatrix(), hpp::constraints::CalculusBase< PointInJoint >::cross_, joint_, and local_.
Referenced by computeJacobian().
void hpp::constraints::PointInJoint::computeJacobian | ( | ) | [inline, virtual] |
void hpp::constraints::PointInJoint::computeValue | ( | ) | [inline, virtual] |
Implements hpp::constraints::CalculusBaseAbstract.
References g_, joint_, local_, and hpp::constraints::CalculusBase< PointInJoint >::value_.
const JointPtr_t& hpp::constraints::PointInJoint::joint | ( | ) | const [inline] |
References joint_.
Referenced by PointInJoint().
const vector3_t& hpp::constraints::PointInJoint::local | ( | ) | const [inline] |
References local_.
Referenced by PointInJoint().
bool hpp::constraints::PointInJoint::center_ [protected] |
Referenced by computeCrossRXl(), computeJacobian(), and PointInJoint().
vector3_t hpp::constraints::PointInJoint::g_ [protected] |
Referenced by computeValue().
JointPtr_t hpp::constraints::PointInJoint::joint_ [protected] |
Referenced by computeCrossRXl(), computeJacobian(), computeValue(), joint(), and PointInJoint().
vector3_t hpp::constraints::PointInJoint::local_ [protected] |
Referenced by computeCrossRXl(), computeValue(), local(), and PointInJoint().