hpp::constraints::RelativeOrientation Class Reference

Constraint on the relative orientation of two robot joints. More...

#include <hpp/constraints/relative-orientation.hh>

Inheritance diagram for hpp::constraints::RelativeOrientation:
Collaboration diagram for hpp::constraints::RelativeOrientation:

List of all members.

Public Member Functions

virtual ~RelativeOrientation () throw ()
void reference (const matrix3_t &reference)
 Set desired relative orientation as a rotation matrix.
const matrix3_treference () const
 Get desired relative orientation.
 RelativeOrientation (const std::string &name, const DevicePtr_t &, const JointPtr_t &joint1, const JointPtr_t &joint2, const matrix3_t &reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >())
 Constructor.

Static Public Member Functions

static
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
RelativeOrientationPtr_t 
create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const matrix3_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 RelativeOrientationPtr_t create (const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const matrix3_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.

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 ()

Detailed Description

Constraint on the relative orientation of two robot joints.

The value of the function is defined as follows:

\begin{eqnarray*} \mathbf{r} (\mathbf{q}) &=& \log \left((R_1(\mathbf{q})^T R_2(\mathbf{q}))^T R^*\right) = \log \left(R_2(\mathbf{q})^T R_1(\mathbf{q}) R^*\right)\\ \mathbf{\dot{r}} &=& J_{\log}\left(R_2(\mathbf{q})^T R_1(\mathbf{q}) R^*\right) R_2(\mathbf{q})^T \left(J_{joint\ 1}^{\omega}(\mathbf{q}) - J_{joint\ 2}^{\omega}(\mathbf{q})\right) \mathbf{\dot{q}}\ \ \end{eqnarray*}

where $R^*$ is the desired value of $R_1(\mathbf{q})^T R_2(\mathbf{q})$ and

\begin{eqnarray*} J_{\log} (R) &=& \frac{\|\mathbf{r}\|\sin\|\mathbf{r}\|} {2(1-\cos\|\mathbf{r}\|)}I_3 -\frac{1}{2}[\mathbf{r}]_{\times} + \left(\frac{1}{\|\mathbf{r}\|^2} - \frac{\sin\|\mathbf{r}\|}{2\|\mathbf{r}\| (1-\cos\|\mathbf{r}\|)}\right) \mathbf{r}\mathbf{r}^T \end{eqnarray*}


Constructor & Destructor Documentation

virtual hpp::constraints::RelativeOrientation::~RelativeOrientation ( ) throw () [inline, virtual]
hpp::constraints::RelativeOrientation::RelativeOrientation ( const std::string &  name,
const DevicePtr_t ,
const JointPtr_t joint1,
const JointPtr_t joint2,
const matrix3_t reference,
std::vector< bool >  mask = boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >() 
)

Constructor.

Parameters:
namethe name of the constraints,
robotthe robot the constraints is applied to,
jointthe joint the orientation of which is constrained
referencereference orientation of the joint,
maskwhich component of the error vector to take into account.

Member Function Documentation

static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeOrientationPtr_t hpp::constraints::RelativeOrientation::create ( const std::string &  name,
const DevicePtr_t robot,
const JointPtr_t joint1,
const JointPtr_t joint2,
const matrix3_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.

Parameters:
namethe name of the constraints,
robotthe robot the constraints is applied to,
joint1the first joint the orientation of which is constrained
joint2the second joint the orientation of which is constrained
referencedesired relative orientation $R_1(\mathbf{q})^T R_2(\mathbf{q})$ between the joints,
maskwhich component of the error vector to take into account.
static RelativeOrientationPtr_t hpp::constraints::RelativeOrientation::create ( const DevicePtr_t robot,
const JointPtr_t joint1,
const JointPtr_t joint2,
const matrix3_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.

Parameters:
robotthe robot the constraints is applied to,
joint1the first joint the orientation of which is constrained
joint2the second joint the orientation of which is constrained
referencedesired relative orientation $R_1(\mathbf{q})^T R_2(\mathbf{q})$ between the joints,
maskwhich component of the error vector to take into account.
virtual void hpp::constraints::RelativeOrientation::impl_compute ( vectorOut_t  result,
ConfigurationIn_t  argument 
) const throw () [protected, virtual]

Compute value of error.

Parameters:
argumentconfiguration of the robot,
Return values:
resulterror vector
virtual void hpp::constraints::RelativeOrientation::impl_jacobian ( matrixOut_t  jacobian,
ConfigurationIn_t  arg 
) const throw () [protected, virtual]
void hpp::constraints::RelativeOrientation::reference ( const matrix3_t reference) [inline]

Set desired relative orientation as a rotation matrix.

const matrix3_t& hpp::constraints::RelativeOrientation::reference ( ) const [inline]

Get desired relative orientation.