Use this to concatenate several CjrlGikStateConstraint objects. More...
#include <hpp/gik/core/motion-plan-element.hh>
Public Member Functions | |
ChppGikMotionPlanElement (CjrlDynamicRobot *inRobot, unsigned int inPriority, double inDampingFactor=0.0) | |
Constructor. | |
CjrlGikStateConstraint * | clone () const |
Copy. | |
CjrlDynamicRobot & | robot () |
Get associated robot. | |
unsigned int | priority () const |
Get the priority. | |
void | addConstraint (CjrlGikStateConstraint *inJrlStateConstraint) |
Add a constraint. | |
bool | removeConstraint (const CjrlGikStateConstraint *inJrlStateConstraint) |
Remove a constraint. | |
void | dampingFactor (double inDF) |
Set the damping factor. | |
double | dampingFactor () const |
Get the damping factor. | |
unsigned int | dimension () const |
Get the dimension of this motion plan element. | |
const vectorN & | workingJoints () const |
Get a mask on the configuration vector denoting the working degrees of freedom. | |
void | workingJoints (const vectorN &inVec) |
Set a mask on the configuration vector denoting the working degrees of freedom. | |
void | clear () |
Clear stored references to constraints. | |
void | jacobianRoot (CjrlJoint &inJoint) |
const std::vector < CjrlGikStateConstraint * > & | constraints () |
Get constraints included in this element. | |
~ChppGikMotionPlanElement () | |
Computations | |
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. | |
void | computeValue () |
Compute the value of this motion plan element (task). | |
void | computeJacobian () |
Compute the Jacobian of this motion plan element (task) from robot's root taking into account contacts with the environement. | |
Getting result of computations | |
vectorN & | influencingDofs () |
Get the influencing dofs. | |
const vectorN & | value () |
Get the current value of this motion plan element (task). | |
const matrixNxP & | jacobian () |
Get the current Jacobian. |
Use this to concatenate several CjrlGikStateConstraint objects.
ChppGikMotionPlanElement::ChppGikMotionPlanElement | ( | CjrlDynamicRobot * | inRobot, |
unsigned int | inPriority, | ||
double | inDampingFactor = 0.0 |
||
) |
Constructor.
ChppGikMotionPlanElement::~ChppGikMotionPlanElement | ( | ) |
void ChppGikMotionPlanElement::addConstraint | ( | CjrlGikStateConstraint * | inJrlStateConstraint | ) |
Add a constraint.
void ChppGikMotionPlanElement::clear | ( | ) |
Clear stored references to constraints.
CjrlGikStateConstraint* ChppGikMotionPlanElement::clone | ( | ) | const [virtual] |
Copy.
Implements CjrlGikStateConstraint.
void ChppGikMotionPlanElement::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.
void ChppGikMotionPlanElement::computeJacobian | ( | ) | [virtual] |
Compute the Jacobian of this motion plan element (task) from robot's root taking into account contacts with the environement.
Implements CjrlGikStateConstraint.
void ChppGikMotionPlanElement::computeValue | ( | ) | [virtual] |
Compute the value of this motion plan element (task).
Implements CjrlGikStateConstraint.
const std::vector<CjrlGikStateConstraint*>& ChppGikMotionPlanElement::constraints | ( | ) | [inline] |
Get constraints included in this element.
void ChppGikMotionPlanElement::dampingFactor | ( | double | inDF | ) |
Set the damping factor.
double ChppGikMotionPlanElement::dampingFactor | ( | ) | const |
Get the damping factor.
unsigned int ChppGikMotionPlanElement::dimension | ( | ) | const [virtual] |
Get the dimension of this motion plan element.
Implements CjrlLinearConstraint.
vectorN& ChppGikMotionPlanElement::influencingDofs | ( | ) | [virtual] |
Get the influencing dofs.
Implements CjrlGikStateConstraint.
const matrixNxP& ChppGikMotionPlanElement::jacobian | ( | ) | [virtual] |
Get the current Jacobian.
Implements CjrlLinearConstraint.
void ChppGikMotionPlanElement::jacobianRoot | ( | CjrlJoint & | inJoint | ) | [virtual] |
Implements CjrlGikStateConstraint.
unsigned int ChppGikMotionPlanElement::priority | ( | ) | const |
Get the priority.
bool ChppGikMotionPlanElement::removeConstraint | ( | const CjrlGikStateConstraint * | inJrlStateConstraint | ) |
Remove a constraint.
Recomputing new value and jacobian is NOT done automatically.
CjrlDynamicRobot& ChppGikMotionPlanElement::robot | ( | ) | [virtual] |
Get associated robot.
Implements CjrlGikStateConstraint.
const vectorN& ChppGikMotionPlanElement::value | ( | ) | [virtual] |
Get the current value of this motion plan element (task).
Implements CjrlLinearConstraint.
const vectorN& ChppGikMotionPlanElement::workingJoints | ( | ) | const |
Get a mask on the configuration vector denoting the working degrees of freedom.
void ChppGikMotionPlanElement::workingJoints | ( | const vectorN & | inVec | ) |
Set a mask on the configuration vector denoting the working degrees of freedom.