Constraint on the orientation of a robot joint. More...
#include <hpp/constraints/orientation.hh>
Public Member Functions | |
virtual | ~Orientation () throw () |
void | reference (const matrix3_t &reference) |
Set desired orientation as a rotation matrix. | |
const matrix3_t & | reference () const |
Get desired orientation. | |
Orientation (const std::string &name, const DevicePtr_t &, const JointPtr_t &joint, const matrix3_t &reference, std::vector< bool > mask) | |
Constructor. | |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW OrientationPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const matrix3_t &reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)) |
Return a shared pointer to a new instance. | |
static OrientationPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint, const matrix3_t &reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)) |
Return a shared pointer to a new instance. | |
static size_type | size (std::vector< bool > mask) |
Get size of error with respect to mask. | |
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 orientation of a robot joint.
The value of the function is defined as the rotation vector of the reference orientation expressed in the frame of the current orientation.
where
virtual hpp::constraints::Orientation::~Orientation | ( | ) | throw () [inline, virtual] |
hpp::constraints::Orientation::Orientation | ( | const std::string & | name, |
const DevicePtr_t & | , | ||
const JointPtr_t & | joint, | ||
const matrix3_t & | reference, | ||
std::vector< bool > | mask | ||
) |
Constructor.
name | the name of the constraints, |
robot | the robot the constraints is applied to, |
joint | the joint the orientation of which is constrained |
reference | reference orientation of the joint, |
mask | which component of the error vector to take into account. |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW OrientationPtr_t hpp::constraints::Orientation::create | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint, | ||
const matrix3_t & | reference, | ||
std::vector< bool > | mask = boost::assign::list_of(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, |
joint | the joint the orientation of which is constrained |
reference | reference orientation of the joint, |
mask | which component of the error vector to take into account. |
static OrientationPtr_t hpp::constraints::Orientation::create | ( | const DevicePtr_t & | robot, |
const JointPtr_t & | joint, | ||
const matrix3_t & | reference, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true) |
||
) | [static] |
Return a shared pointer to a new instance.
robot | the robot the constraints is applied to, |
joint | the joint the orientation of which is constrained |
reference | reference orientation of the joint, |
mask | which component of the error vector to take into account. |
virtual void hpp::constraints::Orientation::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::Orientation::impl_jacobian | ( | matrixOut_t | jacobian, |
ConfigurationIn_t | arg | ||
) | const throw () [protected, virtual] |
void hpp::constraints::Orientation::reference | ( | const matrix3_t & | reference | ) | [inline] |
Set desired orientation as a rotation matrix.
const matrix3_t& hpp::constraints::Orientation::reference | ( | ) | const [inline] |
Get desired orientation.
static size_type hpp::constraints::Orientation::size | ( | std::vector< bool > | mask | ) | [static] |
Get size of error with respect to mask.