ChppGikConfigurationConstraint Class Reference

Specify a full or partial configuration constraint. More...

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

Inheritance diagram for ChppGikConfigurationConstraint:
Collaboration diagram for ChppGikConfigurationConstraint:

List of all members.

Public Member Functions

 ChppGikConfigurationConstraint (CjrlDynamicRobot &inRobot, const vectorN &inTargetConfig, const vectorN &inMask)
 Constructor.
 ~ChppGikConfigurationConstraint ()
 Destructor.
virtual CjrlGikStateConstraintclone () const
 Copy.
bool target (const vectorN &inTargetConfig)
 set target
virtual CjrlDynamicRobot & robot ()
 Get associated robot.
virtual unsigned int dimension () const
 Get the dimension of the constraint.
void jacobianRoot (CjrlJoint &inJoint)
 no ionfluence
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 ()
 Compute the Jacobian matrix of the constraint value wrt internal configuration variables.
virtual const vectorNvalue ()
 Get the constraint value.
virtual const matrixNxPjacobian ()
 Get the constraint Jacobian wrt internal configuration variables.
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.

Detailed Description

Specify a full or partial configuration constraint.


Constructor & Destructor Documentation

ChppGikConfigurationConstraint::ChppGikConfigurationConstraint ( CjrlDynamicRobot &  inRobot,
const vectorN inTargetConfig,
const vectorN inMask 
)

Constructor.

inTargetConfig is of size inRobot.numberDof() and inMask of size inRobot.numberDof() (i.e. excluding free flyer's dofs)

ChppGikConfigurationConstraint::~ChppGikConfigurationConstraint ( )

Destructor.


Member Function Documentation

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

Copy.

Implements CjrlGikStateConstraint.

virtual void ChppGikConfigurationConstraint::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 ChppGikConfigurationConstraint::computeJacobian ( ) [virtual]

Compute the Jacobian matrix of the constraint value wrt internal configuration variables.

The interaction with the environment is taken into account (for instance a foot on the ground).

Implements CjrlGikStateConstraint.

virtual void ChppGikConfigurationConstraint::computeValue ( ) [virtual]

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

virtual void ChppGikConfigurationConstraint::computeVectorizedState ( ) [virtual]

Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.

Implements ChppGikVectorizableConstraint.

virtual void ChppGikConfigurationConstraint::computeVectorizedTarget ( ) [virtual]

Compute the target of the constraint as a vectorN.

Implements ChppGikVectorizableConstraint.

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

Get the dimension of the constraint.

Implements CjrlLinearConstraint.

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

Get the influencing dofs.

Implements CjrlGikStateConstraint.

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

Get the constraint Jacobian wrt internal configuration variables.

The interaction with the environment is taken into account (for instance a foot on the ground)

Implements CjrlLinearConstraint.

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

no ionfluence

Implements CjrlGikStateConstraint.

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

Get associated robot.

Implements CjrlGikStateConstraint.

bool ChppGikConfigurationConstraint::target ( const vectorN inTargetConfig)

set target

Returns:
false if size of vector incorrect
virtual const vectorN& ChppGikConfigurationConstraint::value ( ) [virtual]

Get the constraint value.

Implements CjrlLinearConstraint.

virtual bool ChppGikConfigurationConstraint::vectorizedTarget ( const vectorN inTarget) [virtual]

A unified method to change the target of the constraint with a vectorN.

Returns:
false if the argument's size does not match the one expected for this constraint type

Implements ChppGikVectorizableConstraint.