Specify a 3D orientation constraint on a body of the robot. More...
#include <hpp/gik/constraint/rotation-constraint.hh>
Public Member Functions | |
ChppGikRotationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const matrix3d &inTargetOrientation) | |
Constructor. | |
virtual CjrlGikStateConstraint * | clone () const |
Copy the object. | |
virtual void | targetOrientation (const matrix3d &inRot) |
Set the target orientation for this constraint. | |
virtual const matrix3d & | targetOrientation () |
Get the point associated to the constraint (in joint's local frame). | |
virtual void | computeVectorizedState () |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. | |
virtual void | computeVectorizedTarget () |
Compute the target of the constraint as a vectorN. | |
virtual bool | vectorizedTarget (const vectorN &inTarget) |
A unified method to change the target of the constraint with a vectorN. | |
virtual void | computeValue () |
Compute the value of the constraint. | |
virtual void | computeJacobian () |
Get the constraint Jacobian wrt internal configuration variables. | |
virtual | ~ChppGikRotationConstraint () |
Destructor. |
Specify a 3D orientation constraint on a body of the robot.
ChppGikRotationConstraint::ChppGikRotationConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
const matrix3d & | inTargetOrientation | ||
) |
Constructor.
virtual ChppGikRotationConstraint::~ChppGikRotationConstraint | ( | ) | [inline, virtual] |
Destructor.
virtual CjrlGikStateConstraint* ChppGikRotationConstraint::clone | ( | ) | const [virtual] |
Copy the object.
Implements CjrlGikStateConstraint.
virtual void ChppGikRotationConstraint::computeJacobian | ( | ) | [virtual] |
Get the constraint Jacobian wrt internal configuration variables.
This method supposes that: the robot has at least one fixed joint. the jacobian for this fixed joint has been computed for the current configuration
Only the first fixed joint of the robot affects the computation of the jacobian. (closed kinematic chains are not handeled)
Implements CjrlGikStateConstraint.
virtual void ChppGikRotationConstraint::computeValue | ( | ) | [virtual] |
Compute the value of the constraint.
Implements CjrlGikStateConstraint.
virtual void ChppGikRotationConstraint::computeVectorizedState | ( | ) | [virtual] |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikRotationConstraint::computeVectorizedTarget | ( | ) | [virtual] |
Compute the target of the constraint as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikRotationConstraint::targetOrientation | ( | const matrix3d & | inRot | ) | [virtual] |
Set the target orientation for this constraint.
Implements CjrlGikRotationConstraint.
virtual const matrix3d& ChppGikRotationConstraint::targetOrientation | ( | ) | [virtual] |
Get the point associated to the constraint (in joint's local frame).
Implements CjrlGikRotationConstraint.
virtual bool ChppGikRotationConstraint::vectorizedTarget | ( | const vectorN & | inTarget | ) | [virtual] |
A unified method to change the target of the constraint with a vectorN.
Implements ChppGikVectorizableConstraint.