Constraint on the relative position of the center of mass. More...
#include <hpp/constraints/relative-com.hh>
Public Member Functions | |
virtual | ~RelativeCom () throw () |
RelativeCom (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask) | |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeComPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >()) |
Return a shared pointer to a new instance. | |
static RelativeComPtr_t | create (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >()) |
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::RelativeCom::~RelativeCom | ( | ) | throw () [inline, virtual] |
hpp::constraints::RelativeCom::RelativeCom | ( | const DevicePtr_t & | robot, |
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | joint, | ||
const vector3_t | reference, | ||
std::vector< bool > | mask | ||
) |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeComPtr_t hpp::constraints::RelativeCom::create | ( | const DevicePtr_t & | robot, |
const JointPtr_t & | joint, | ||
const vector3_t | reference, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >() |
||
) | [static] |
Return a shared pointer to a new instance.
static RelativeComPtr_t hpp::constraints::RelativeCom::create | ( | const DevicePtr_t & | robot, |
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | joint, | ||
const vector3_t | reference, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >() |
||
) | [static] |
virtual void hpp::constraints::RelativeCom::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::RelativeCom::impl_jacobian | ( | matrixOut_t | jacobian, |
ConfigurationIn_t | arg | ||
) | const throw () [protected, virtual] |