Constraint on the relative transformation of two robot joints. More...
#include <hpp/constraints/relative-transformation.hh>
Public Member Functions | |
virtual | ~RelativeTransformation () throw () |
void | reference (const Transform3f &reference) |
Set desired relative transformation. | |
const Transform3f & | reference () const |
Get desired relative orientation. | |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeTransformationPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const Transform3f &reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)(true)(true)(true)) |
Return a shared pointer to a new instance. | |
static RelativeTransformationPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const Transform3f &reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)(true)(true)(true)) |
Return a shared pointer to a new instance. | |
Protected Member Functions | |
RelativeTransformation (const std::string &name, const DevicePtr_t &, const JointPtr_t &joint1, const JointPtr_t &joint2, const Transform3f &reference, std::vector< bool > mask) | |
Constructor. | |
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 transformation of two robot joints.
The 3 first coordinates of the error is computed by a RelativePosition instance where the origin of Joint 2 should coincide with the translation part of the reference transformation passed to this.
The 3 last coordinates of the error are computed by a RelativeOrientation instance.
virtual hpp::constraints::RelativeTransformation::~RelativeTransformation | ( | ) | throw () [inline, virtual] |
hpp::constraints::RelativeTransformation::RelativeTransformation | ( | const std::string & | name, |
const DevicePtr_t & | , | ||
const JointPtr_t & | joint1, | ||
const JointPtr_t & | joint2, | ||
const Transform3f & | reference, | ||
std::vector< bool > | mask | ||
) | [protected] |
Constructor.
name | the name of the constraints, |
robot | the robot the constraints is applied to, |
joint1 | the first joint the transformation of which is constrained, |
joint2 | the second joint the transformation of which is constrained, |
reference | desired relative transformation ![]() |
mask | vector of 6 boolean defining which coordinates of the error vector to take into account. |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeTransformationPtr_t hpp::constraints::RelativeTransformation::create | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint1, | ||
const JointPtr_t & | joint2, | ||
const Transform3f & | reference, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true)(true)(true)(true) |
||
) | [static] |
Return a shared pointer to a new instance.
name | the name of the constraints, |
robot | the robot the constraints is applied to, |
joint1 | the first joint the transformation of which is constrained, |
joint2 | the second joint the transformation of which is constrained, |
reference | desired relative transformation ![]() |
mask | which component of the error vector to take into account. |
static RelativeTransformationPtr_t hpp::constraints::RelativeTransformation::create | ( | const DevicePtr_t & | robot, |
const JointPtr_t & | joint1, | ||
const JointPtr_t & | joint2, | ||
const Transform3f & | reference, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true)(true)(true)(true) |
||
) | [static] |
Return a shared pointer to a new instance.
robot | the robot the constraints is applied to, |
joint1 | the first joint the transformation of which is constrained, |
joint2 | the second joint the transformation of which is constrained, |
reference | desired relative transformation ![]() |
mask | which component of the error vector to take into account. |
virtual void hpp::constraints::RelativeTransformation::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::RelativeTransformation::impl_jacobian | ( | matrixOut_t | jacobian, |
ConfigurationIn_t | arg | ||
) | const throw () [protected, virtual] |
void hpp::constraints::RelativeTransformation::reference | ( | const Transform3f & | reference | ) | [inline] |
Set desired relative transformation.
const Transform3f& hpp::constraints::RelativeTransformation::reference | ( | ) | const [inline] |
Get desired relative orientation.