Implementation of Equation specific to locked joint. More...
#include <hpp/core/locked-joint.hh>
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) |
Implementation of Equation specific to locked joint.
The underlying equation is . The right hand side of the equation is also called value.
hpp::core::LockedJoint::LockedJoint | ( | const JointPtr_t & | joint, |
vectorIn_t | value, | ||
ComparisonTypePtr_t | comp = ComparisonType::createDefault() |
||
) | [protected] |
Constructor.
joint | joint that is locked, |
value | of the constant joint config, |
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.
joint | joint that is locked, |
value | of 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.