hpp::core::LockedJoint Class Reference

Implementation of Equation specific to locked joint. More...

#include <hpp/core/locked-joint.hh>

Inheritance diagram for hpp::core::LockedJoint:
Collaboration diagram for hpp::core::LockedJoint:

List of all members.

Public Member Functions

std::size_t rankInConfiguration () const
 Get index of locked degree of freedom in robot configuration vector.
std::size_t rankInVelocity () const
 Get index of locked degree of freedom in robot velocity vector.
std::size_t size () const
 Get the configuration size of the joint.
std::size_t numberDof () const
 Get number of degrees of freedom of the joint.
vectorIn_t value () const
 Get the value of the locked joint.
void value (vectorIn_t value)
 Set the value of the locked joint.
void rightHandSideFromConfig (ConfigurationIn_t config)
 Set the value of the locked joint from a configuration.
bool isSatisfied (ConfigurationIn_t config)
 Check whether a configuration statisfies the constraint.
const std::string & jointName () const
 Return the joint name.

Static Public Member Functions

static LockedJointPtr_t create (const JointPtr_t &joint, vectorIn_t value, ComparisonTypePtr_t comp=ComparisonType::createDefault())
 Return shared pointer to new object.

Protected Member Functions

 LockedJoint (const JointPtr_t &joint, vectorIn_t value, ComparisonTypePtr_t comp=ComparisonType::createDefault())
 Constructor.
void init (const LockedJointPtr_t &self)

Detailed Description

Implementation of Equation specific to locked joint.

The underlying equation is $ q_i (q) = rhs $. The right hand side of the equation is also called value.


Constructor & Destructor Documentation

hpp::core::LockedJoint::LockedJoint ( const JointPtr_t joint,
vectorIn_t  value,
ComparisonTypePtr_t  comp = ComparisonType::createDefault() 
) [protected]

Constructor.

Parameters:
jointjoint that is locked,
valueof the constant joint config,

Member Function Documentation

static LockedJointPtr_t hpp::core::LockedJoint::create ( const JointPtr_t joint,
vectorIn_t  value,
ComparisonTypePtr_t  comp = ComparisonType::createDefault() 
) [static]

Return shared pointer to new object.

Parameters:
jointjoint that is locked,
valueof the constant joint config,
void hpp::core::LockedJoint::init ( const LockedJointPtr_t self) [protected]
bool hpp::core::LockedJoint::isSatisfied ( ConfigurationIn_t  config)

Check whether a configuration statisfies the constraint.

const std::string& hpp::core::LockedJoint::jointName ( ) const [inline]

Return the joint name.

std::size_t hpp::core::LockedJoint::numberDof ( ) const

Get number of degrees of freedom of the joint.

std::size_t hpp::core::LockedJoint::rankInConfiguration ( ) const

Get index of locked degree of freedom in robot configuration vector.

std::size_t hpp::core::LockedJoint::rankInVelocity ( ) const

Get index of locked degree of freedom in robot velocity vector.

void hpp::core::LockedJoint::rightHandSideFromConfig ( ConfigurationIn_t  config) [virtual]

Set the value of the locked joint from a configuration.

Implements hpp::core::Equation.

std::size_t hpp::core::LockedJoint::size ( ) const

Get the configuration size of the joint.

vectorIn_t hpp::core::LockedJoint::value ( ) const

Get the value of the locked joint.

void hpp::core::LockedJoint::value ( vectorIn_t  value)

Set the value of the locked joint.