ChppGikParallelConstraint Class Reference

Specify a 2D orientation constraint on a body of the robot. More...

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

Inheritance diagram for ChppGikParallelConstraint:
Collaboration diagram for ChppGikParallelConstraint:

List of all members.

Public Member Functions

 ChppGikParallelConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalVector, const vector3d &inTargetVector)
 Constructor.
virtual CjrlGikStateConstraintclone () const
 Copy the object.
virtual void localVector (const vector3d &inVector)
 Set the vector (in joint's local frame) associated to the constraint.
virtual const vector3dlocalVector ()
 Get the vector associated to the constraint (in joint's local frame).
virtual void targetVector (const vector3d &inVector)
 Set the target vector associated to the constraint (in world's frame).
virtual const vector3dtargetVector ()
 Get the target vector 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 ~ChppGikParallelConstraint ()
 Destructor.

Detailed Description

Specify a 2D orientation constraint on a body of the robot.


Constructor & Destructor Documentation

ChppGikParallelConstraint::ChppGikParallelConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d inLocalVector,
const vector3d inTargetVector 
)

Constructor.

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

Destructor.


Member Function Documentation

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

Copy the object.

Implements CjrlGikStateConstraint.

virtual void ChppGikParallelConstraint::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 ChppGikParallelConstraint::computeValue ( ) [virtual]

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

virtual void ChppGikParallelConstraint::computeVectorizedState ( ) [virtual]

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

Implements ChppGikVectorizableConstraint.

virtual void ChppGikParallelConstraint::computeVectorizedTarget ( ) [virtual]

Compute the target of the constraint as a vectorN.

Implements ChppGikVectorizableConstraint.

virtual void ChppGikParallelConstraint::localVector ( const vector3d inVector) [virtual]

Set the vector (in joint's local frame) associated to the constraint.

Implements CjrlGikParallelConstraint.

virtual const vector3d& ChppGikParallelConstraint::localVector ( ) [virtual]

Get the vector associated to the constraint (in joint's local frame).

Implements CjrlGikParallelConstraint.

virtual void ChppGikParallelConstraint::targetVector ( const vector3d inVector) [virtual]

Set the target vector associated to the constraint (in world's frame).

Implements CjrlGikParallelConstraint.

virtual const vector3d& ChppGikParallelConstraint::targetVector ( ) [virtual]

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

Implements CjrlGikParallelConstraint.

virtual bool ChppGikParallelConstraint::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.