Specify a 3D position constraint on a point of the robot. More...
#include <hpp/gik/constraint/position-constraint.hh>
Public Member Functions | |
ChppGikPositionConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inPointInWorldFrame) | |
Constructor. | |
virtual CjrlGikStateConstraint * | clone () const |
Copy the object. | |
virtual void | localPoint (const vector3d &inPoint) |
Set the point (in joint's local frame) associated to the constraint. | |
virtual const vector3d & | localPoint () |
Get the point associated to the constraint (in joint's local frame). | |
virtual void | worldTarget (const vector3d &inPoint) |
Set the target point associated to the constraint (in world's frame). | |
virtual const vector3d & | worldTarget () |
Get the target point associated to the constraint (in world's 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 | ~ChppGikPositionConstraint () |
Destructor. |
Specify a 3D position constraint on a point of the robot.
ChppGikPositionConstraint::ChppGikPositionConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
const vector3d & | inPointInBodyLocalFrame, | ||
const vector3d & | inPointInWorldFrame | ||
) |
Constructor.
virtual ChppGikPositionConstraint::~ChppGikPositionConstraint | ( | ) | [inline, virtual] |
Destructor.
virtual CjrlGikStateConstraint* ChppGikPositionConstraint::clone | ( | ) | const [virtual] |
Copy the object.
Implements CjrlGikStateConstraint.
virtual void ChppGikPositionConstraint::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 ChppGikPositionConstraint::computeValue | ( | ) | [virtual] |
Compute the value of the constraint.
Implements CjrlGikStateConstraint.
virtual void ChppGikPositionConstraint::computeVectorizedState | ( | ) | [virtual] |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikPositionConstraint::computeVectorizedTarget | ( | ) | [virtual] |
Compute the target of the constraint as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikPositionConstraint::localPoint | ( | const vector3d & | inPoint | ) | [virtual] |
Set the point (in joint's local frame) associated to the constraint.
Implements CjrlGikPositionConstraint.
virtual const vector3d& ChppGikPositionConstraint::localPoint | ( | ) | [virtual] |
Get the point associated to the constraint (in joint's local frame).
Implements CjrlGikPositionConstraint.
virtual bool ChppGikPositionConstraint::vectorizedTarget | ( | const vectorN & | inTarget | ) | [virtual] |
A unified method to change the target of the constraint with a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikPositionConstraint::worldTarget | ( | const vector3d & | inPoint | ) | [virtual] |
Set the target point associated to the constraint (in world's frame).
Implements CjrlGikPositionConstraint.
virtual const vector3d& ChppGikPositionConstraint::worldTarget | ( | ) | [virtual] |
Get the target point associated to the constraint (in world's frame).
Implements CjrlGikPositionConstraint.