Constraint on the relative position of the center of mass. More...
#include <hpp/constraints/com-between-feet.hh>
Public Member Functions | |
virtual | ~ComBetweenFeet () throw () |
ComBetweenFeet (const std::string &name, const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask) | |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ComBetweenFeetPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)(true)) |
Return a shared pointer to a new instance. | |
static ComBetweenFeetPtr_t | create (const std::string &name, const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)(true)) |
Return a shared pointer to a new instance. | |
Protected Member Functions | |
virtual void | impl_compute (vectorOut_t result, ConfigurationIn_t argument) const throw () |
Compute value of error. | |
virtual void | impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const throw () |
Constraint on the relative position of the center of mass.
The value of the function is defined as the position of the center of mass in the reference frame of a joint.
where
virtual hpp::constraints::ComBetweenFeet::~ComBetweenFeet | ( | ) | throw () [inline, virtual] |
hpp::constraints::ComBetweenFeet::ComBetweenFeet | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | jointLeft, | ||
const JointPtr_t & | jointRight, | ||
const vector3_t | pointLeft, | ||
const vector3_t | pointRight, | ||
const JointPtr_t & | jointReference, | ||
const vector3_t | pointRef, | ||
std::vector< bool > | mask | ||
) |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ComBetweenFeetPtr_t hpp::constraints::ComBetweenFeet::create | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | jointLeft, | ||
const JointPtr_t & | jointRight, | ||
const vector3_t | pointLeft, | ||
const vector3_t | pointRight, | ||
const JointPtr_t & | jointReference, | ||
const vector3_t | pointRef, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true)(true) |
||
) | [static] |
Return a shared pointer to a new instance.
static ComBetweenFeetPtr_t hpp::constraints::ComBetweenFeet::create | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | jointLeft, | ||
const JointPtr_t & | jointRight, | ||
const vector3_t | pointLeft, | ||
const vector3_t | pointRight, | ||
const JointPtr_t & | jointReference, | ||
const vector3_t | pointRef, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true)(true) |
||
) | [static] |
Return a shared pointer to a new instance.
virtual void hpp::constraints::ComBetweenFeet::impl_compute | ( | vectorOut_t | result, |
ConfigurationIn_t | argument | ||
) | const throw () [protected, virtual] |
Compute value of error.
argument | configuration of the robot, |
result | error vector |
virtual void hpp::constraints::ComBetweenFeet::impl_jacobian | ( | matrixOut_t | jacobian, |
ConfigurationIn_t | arg | ||
) | const throw () [protected, virtual] |