Constraint on the position of a robot point. More...
#include <hpp/constraints/position.hh>
Public Member Functions | |
virtual | ~Position () throw () |
void | reference (const vector3_t &reference) |
Set position of target point in global frame. | |
const vector3_t & | reference () const |
Get position of target point in global frame. | |
Position (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t &pointInLocalFrame, const vector3_t &targetInGlobalFrame, const matrix3_t &rotation, std::vector< bool > mask) | |
Constructor. | |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW PositionPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t &pointInLocalFrame, const vector3_t &targetInGlobalFrame, const matrix3_t &rotation=matrix3_t::getIdentity(), std::vector< bool > mask=boost::assign::list_of(true)(true)(true)) |
Return a shared pointer to a new instance. | |
static PositionPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t &pointInLocalFrame, const vector3_t &targetInGlobalFrame, const matrix3_t &rotation=matrix3_t::getIdentity(), std::vector< bool > mask=boost::assign::list_of(true)(true)(true)) |
Return a shared pointer to a new instance. | |
Static Public Attributes | |
static matrix3_t | I3 |
Identity matrix of size 3. | |
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 position of a robot point.
The value of the function is defined as the vector from a local point in the joint frame to a target point in the world frame expressed in some frame:
where
virtual hpp::constraints::Position::~Position | ( | ) | throw () [inline, virtual] |
hpp::constraints::Position::Position | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint, | ||
const vector3_t & | pointInLocalFrame, | ||
const vector3_t & | targetInGlobalFrame, | ||
const matrix3_t & | rotation, | ||
std::vector< bool > | mask | ||
) |
Constructor.
name | the name of the constraints, |
robot | the robot the constraint applies to, |
joint | the joint the position of which is constrained, |
pointInLocalFrame | point in local frame, |
targetInGlobalFrame | target point in globalframe. |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW PositionPtr_t hpp::constraints::Position::create | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint, | ||
const vector3_t & | pointInLocalFrame, | ||
const vector3_t & | targetInGlobalFrame, | ||
const matrix3_t & | rotation = matrix3_t::getIdentity() , |
||
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 constraint applies to, |
joint | the joint the position of which is constrained, |
pointInLocalFrame | point in local frame, |
targetInGlobalFrame | target point in globalframe, |
rotation | frame in which the error is expressed, |
mask | which component of the error vector to take into account. |
static PositionPtr_t hpp::constraints::Position::create | ( | const DevicePtr_t & | robot, |
const JointPtr_t & | joint, | ||
const vector3_t & | pointInLocalFrame, | ||
const vector3_t & | targetInGlobalFrame, | ||
const matrix3_t & | rotation = matrix3_t::getIdentity() , |
||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true) |
||
) | [static] |
Return a shared pointer to a new instance.
robot | the robot the constraint applies to, |
joint | the joint the position of which is constrained, |
pointInLocalFrame | point in local frame, |
targetInGlobalFrame | target point in globalframe, |
rotation | frame in which the error is expressed, |
mask | which component of the error vector to take into account. |
virtual void hpp::constraints::Position::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::Position::impl_jacobian | ( | matrixOut_t | jacobian, |
ConfigurationIn_t | arg | ||
) | const throw () [protected, virtual] |
void hpp::constraints::Position::reference | ( | const vector3_t & | reference | ) | [inline] |
Set position of target point in global frame.
const vector3_t& hpp::constraints::Position::reference | ( | ) | const [inline] |
Get position of target point in global frame.
matrix3_t hpp::constraints::Position::I3 [static] |
Identity matrix of size 3.