Specify a relative position constraint on the center of mass. More...
#include <hpp/gik/constraint/relative-com-constraint.hh>
Definition of the constraint | |
ChppGikRelativeComConstraint (CjrlDynamicRobot &inRobot, CjrlJoint *inJoint, double inX, double inY) | |
Constructor. | |
CjrlGikStateConstraint * | clone () const |
Copy the object. | |
virtual void | computeValue () |
Compute the value of the constraint. | |
virtual void | computeJacobian () |
Get the constraint Jacobian wrt internal configuration variables. | |
virtual | ~ChppGikRelativeComConstraint () |
Destructor. | |
virtual const matrixNxP & | jacobian () |
Get the constraint jacobian. |
Specify a relative position constraint on the center of mass.
ChppGikRelativeComConstraint::ChppGikRelativeComConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint * | inJoint, | ||
double | inX, | ||
double | inY | ||
) |
Constructor.
inRobot | Robot |
inJoint | Joint in which the CoM position is computed |
inX | CoM target position |
inY | CoM target position |
virtual ChppGikRelativeComConstraint::~ChppGikRelativeComConstraint | ( | ) | [virtual] |
Destructor.
CjrlGikStateConstraint* ChppGikRelativeComConstraint::clone | ( | ) | const [virtual] |
Copy the object.
Reimplemented from ChppGikComConstraint.
virtual void ChppGikRelativeComConstraint::computeJacobian | ( | ) | [virtual] |
Get the constraint Jacobian wrt internal configuration variables.
Reimplemented from ChppGikComConstraint.
virtual void ChppGikRelativeComConstraint::computeValue | ( | ) | [virtual] |
Compute the value of the constraint.
Reimplemented from ChppGikComConstraint.
virtual const matrixNxP& ChppGikRelativeComConstraint::jacobian | ( | ) | [virtual] |
Get the constraint jacobian.
Reimplemented from ChppGikComConstraint.