Constraint on the relative position of two robot joints. More...
#include <hpp/constraints/relative-position.hh>
Public Member Functions | |
virtual | ~RelativePosition () throw () |
RelativePosition (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2, std::vector< bool > mask=boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >()) | |
Constructor. | |
const vector3_t & | pointInJoint1 () const |
Get reference point in joint 1. | |
void | pointInJoint1 (const vector3_t &reference) |
Set reference point in joint 1. | |
const vector3_t & | pointInJoint2 () const |
Get reference point in joint 2. | |
void | pointInJoint2 (const vector3_t &reference) |
Set reference point in joint 2. | |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativePositionPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2, 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 RelativePositionPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2, 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. | |
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 two robot joints.
The value of the function is defined as follows:
where and
are the position of the points to match expressed in the local frame of each joint.
virtual hpp::constraints::RelativePosition::~RelativePosition | ( | ) | throw () [inline, virtual] |
hpp::constraints::RelativePosition::RelativePosition | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint1, | ||
const JointPtr_t & | joint2, | ||
const vector3_t & | point1, | ||
const vector3_t & | point2, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >() |
||
) |
Constructor.
robot | the robot the constraints is applied to, |
joint1,joint2 | joints the relative positions of which is constrained. |
point1,point2 | the points on each joint that should coincide expressed in joint local frames. |
mask | which component of the error vector to take into account. |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativePositionPtr_t hpp::constraints::RelativePosition::create | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint1, | ||
const JointPtr_t & | joint2, | ||
const vector3_t & | point1, | ||
const vector3_t & | point2, | ||
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.
name | the name of the constraints, |
robot | the robot the constraints is applied to, |
joint1,joint2 | joints the relative positions of which is constrained. |
point1,point2 | the points on each joint that should coincide expressed in joint local frames. |
mask | which component of the error vector to take into account. |
static RelativePositionPtr_t hpp::constraints::RelativePosition::create | ( | const DevicePtr_t & | robot, |
const JointPtr_t & | joint1, | ||
const JointPtr_t & | joint2, | ||
const vector3_t & | point1, | ||
const vector3_t & | point2, | ||
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.
robot | the robot the constraints is applied to, |
joint1,joint2 | joints the relative positions of which is constrained. |
point1,point2 | the points on each joint that should coincide expressed in joint local frames. |
mask | which component of the error vector to take into account. |
virtual void hpp::constraints::RelativePosition::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::RelativePosition::impl_jacobian | ( | matrixOut_t | jacobian, |
ConfigurationIn_t | arg | ||
) | const throw () [protected, virtual] |
const vector3_t& hpp::constraints::RelativePosition::pointInJoint1 | ( | ) | const [inline] |
Get reference point in joint 1.
void hpp::constraints::RelativePosition::pointInJoint1 | ( | const vector3_t & | reference | ) | [inline] |
Set reference point in joint 1.
const vector3_t& hpp::constraints::RelativePosition::pointInJoint2 | ( | ) | const [inline] |
Get reference point in joint 2.
void hpp::constraints::RelativePosition::pointInJoint2 | ( | const vector3_t & | reference | ) | [inline] |
Set reference point in joint 2.