ChppGikComConstraint Class Reference

Specify a full or partial position constraint on the center of mass. More...

#include <hpp/gik/constraint/com-constraint.hh>

Inheritance diagram for ChppGikComConstraint:
Collaboration diagram for ChppGikComConstraint:

List of all members.

Public Member Functions

virtual ~ChppGikComConstraint ()
 Destructor.
void jacobianRoot (CjrlJoint &inJoint)
 Set the jacobian root.
Definition of the constraint
 ChppGikComConstraint (CjrlDynamicRobot &inRobot, double inX, double inY)
 Constructor.
CjrlGikStateConstraintclone () const
 Copy the object.
virtual unsigned int dimension () const
 Get the dimension of the constraint.
virtual CjrlDynamicRobot & robot ()
 Get robot associated to the constraint.
virtual void targetXY (double inX, double inY)
 Set a constraint on Xcom and Ycom (in world's frame).
virtual void targetXYZ (const vectorN &inTarget)
 Set constraint on x,y,z of com (in world's frame).
virtual const vectorNworldTarget ()
 Get the target point associated to the constraint (in world's frame).
Computations
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 vectorNinfluencingDofs ()
 Get the influencing dofs.
virtual void computeValue ()
 Compute the value of the constraint.
virtual void computeJacobian ()
 Get the constraint Jacobian wrt internal configuration variables.
Getting result of computations
virtual const vectorNvalue ()
 Get the constraint value.
virtual const matrixNxPjacobian ()
 Get the constraint jacobian.

Detailed Description

Specify a full or partial position constraint on the center of mass.


Constructor & Destructor Documentation

ChppGikComConstraint::ChppGikComConstraint ( CjrlDynamicRobot &  inRobot,
double  inX,
double  inY 
)

Constructor.

virtual ChppGikComConstraint::~ChppGikComConstraint ( ) [inline, virtual]

Destructor.


Member Function Documentation

CjrlGikStateConstraint* ChppGikComConstraint::clone ( ) const [virtual]

Copy the object.

Implements CjrlGikStateConstraint.

Reimplemented in ChppGikRelativeComConstraint.

virtual void ChppGikComConstraint::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 void ChppGikComConstraint::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.

Reimplemented in ChppGikRelativeComConstraint.

virtual void ChppGikComConstraint::computeValue ( ) [virtual]

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

Reimplemented in ChppGikRelativeComConstraint.

virtual unsigned int ChppGikComConstraint::dimension ( ) const [virtual]

Get the dimension of the constraint.

Implements CjrlLinearConstraint.

virtual vectorN& ChppGikComConstraint::influencingDofs ( ) [virtual]

Get the influencing dofs.

Implements CjrlGikStateConstraint.

virtual const matrixNxP& ChppGikComConstraint::jacobian ( ) [virtual]

Get the constraint jacobian.

Implements CjrlLinearConstraint.

Reimplemented in ChppGikRelativeComConstraint.

void ChppGikComConstraint::jacobianRoot ( CjrlJoint &  inJoint) [virtual]

Set the jacobian root.

Implements CjrlGikStateConstraint.

virtual CjrlDynamicRobot& ChppGikComConstraint::robot ( ) [virtual]

Get robot associated to the constraint.

Implements CjrlGikStateConstraint.

virtual void ChppGikComConstraint::targetXY ( double  inX,
double  inY 
) [virtual]

Set a constraint on Xcom and Ycom (in world's frame).

Implements CjrlGikComConstraint.

virtual void ChppGikComConstraint::targetXYZ ( const vectorN inTarget) [virtual]

Set constraint on x,y,z of com (in world's frame).

Implements CjrlGikComConstraint.

virtual const vectorN& ChppGikComConstraint::value ( ) [virtual]

Get the constraint value.

Implements CjrlLinearConstraint.

virtual const vectorN& ChppGikComConstraint::worldTarget ( ) [virtual]

Get the target point associated to the constraint (in world's frame).

Implements CjrlGikComConstraint.