Implementation of some commom functions in CjrlGikJointStateConstraint. More...
#include <hpp/gik/constraint/joint-state-constraint.hh>
Public Member Functions | |
ChppGikJointStateConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, unsigned int inDimension) | |
Constructor. | |
virtual unsigned int | dimension () const |
Get the dimension of the constraint. | |
virtual CjrlDynamicRobot & | robot () |
Get robot associated to the constraint. | |
virtual void | joint (CjrlJoint *inJoint) |
Set the joint associated to the constraint. | |
virtual CjrlJoint * | joint () |
Get the joint associated to the constraint. | |
virtual void | computeInfluencingDofs () |
Compute a binary vector whose size matches the robot cnfiguration's, where an element with value 1 indicates that the corresponding degree of freedom can modify the value of this constraint, and an element with value 0 cannot. | |
virtual const vectorN & | value () |
Get the constraint value. | |
virtual const matrixNxP & | jacobian () |
Get the constraint jacobian. | |
virtual vectorN & | influencingDofs () |
Get the influencing dofs. | |
virtual void | jacobianRoot (CjrlJoint &inJoint) |
inherited. | |
Protected Attributes | |
vectorN | attValue |
matrixNxP | attJacobian |
vectorN | attInfluencingDofs |
CjrlJoint * | attRootJoint |
Implementation of some commom functions in CjrlGikJointStateConstraint.
ChppGikJointStateConstraint::ChppGikJointStateConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
unsigned int | inDimension | ||
) |
Constructor.
inRobot | Reference to the robot the constraint is associated to. |
inJoint | Reference to the joint the constraint is associated to. |
inDimension | of the constraint. |
virtual void ChppGikJointStateConstraint::computeInfluencingDofs | ( | ) | [virtual] |
Compute a binary vector whose size matches the robot cnfiguration's, where an element with value 1 indicates that the corresponding degree of freedom can modify the value of this constraint, and an element with value 0 cannot.
Implements CjrlGikStateConstraint.
virtual unsigned int ChppGikJointStateConstraint::dimension | ( | ) | const [virtual] |
Get the dimension of the constraint.
Implements CjrlLinearConstraint.
virtual vectorN& ChppGikJointStateConstraint::influencingDofs | ( | ) | [virtual] |
Get the influencing dofs.
Implements CjrlGikStateConstraint.
virtual const matrixNxP& ChppGikJointStateConstraint::jacobian | ( | ) | [virtual] |
Get the constraint jacobian.
Implements CjrlLinearConstraint.
virtual void ChppGikJointStateConstraint::jacobianRoot | ( | CjrlJoint & | inJoint | ) | [virtual] |
inherited.
Will trigger computeInfluencingDofs() when the joint changes
Implements CjrlGikStateConstraint.
virtual void ChppGikJointStateConstraint::joint | ( | CjrlJoint * | inJoint | ) | [virtual] |
Set the joint associated to the constraint.
Will trigger computeInfluencingDofs() when the joint changes
Implements CjrlGikJointStateConstraint.
Reimplemented in ChppGikGazeConstraint.
virtual CjrlJoint* ChppGikJointStateConstraint::joint | ( | ) | [inline, virtual] |
Get the joint associated to the constraint.
Implements CjrlGikJointStateConstraint.
virtual CjrlDynamicRobot& ChppGikJointStateConstraint::robot | ( | ) | [inline, virtual] |
Get robot associated to the constraint.
Implements CjrlGikStateConstraint.
virtual const vectorN& ChppGikJointStateConstraint::value | ( | ) | [virtual] |
Get the constraint value.
Implements CjrlLinearConstraint.
matrixNxP ChppGikJointStateConstraint::attJacobian [protected] |
CjrlJoint* ChppGikJointStateConstraint::attRootJoint [protected] |
vectorN ChppGikJointStateConstraint::attValue [protected] |