Constraint on a line segment attached to a body to be aligned with a given point in the world frame. More...
#include <hpp/gik/constraint/pointing-constraint.hh>
Public Member Functions | |
ChppGikPointingConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalOrigin, const vector3d &inLocalVector, const vector3d &inTargetWorldPoint) | |
Constructor. | |
virtual CjrlGikStateConstraint * | clone () const |
Copy. | |
virtual void | localOrigin (const vector3d &inPoint) |
Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint). | |
const vector3d & | localOrigin () |
Get the origin of the pointing vector. | |
virtual void | localVector (const vector3d &inPoint) |
Set the pointing vector in joint's local frame (illelgal operation for gaze constraint). | |
const vector3d & | localVector () |
Set the pointing vector in joint's local frame. | |
void | worldTarget (const vector3d &inPoint) |
Set the target point associated to the constraint (in world's frame). | |
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. | |
void | computeValue () |
Compute the value of the constraint. | |
void | computeJacobian () |
Get the constraint Jacobian wrt internal configuration variables. | |
virtual | ~ChppGikPointingConstraint () |
Destructor. | |
Protected Attributes | |
vector3d | attLocalOriginVector3 |
vector3d | attLocalVectorVector3 |
vector3d | attWorldTargetVector3 |
vectorN | attLocalOrigin |
vectorN | attLocalVector |
vectorN | attWorldTarget |
Computation temporary variables (to avoid dynamic allocation) | |
{@ | |
matrixNxP | tempRot |
matrixNxP | matOP |
matrixNxP | matOT |
matrixNxP | matFO |
matrixNxP | rotF |
matrixNxP | jointrot |
vectorN | jointpos |
vectorN | posO |
vectorN | posF |
vectorN | posP |
vectorN | vecFO |
vectorN | vecOP |
vectorN | vecOT |
matrixNxP | tempJacobian |
Constraint on a line segment attached to a body to be aligned with a given point in the world frame.
The line segment is defined by an origin point and a vector both given in the body's local frame.
ChppGikPointingConstraint::ChppGikPointingConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
const vector3d & | inLocalOrigin, | ||
const vector3d & | inLocalVector, | ||
const vector3d & | inTargetWorldPoint | ||
) |
Constructor.
virtual ChppGikPointingConstraint::~ChppGikPointingConstraint | ( | ) | [virtual] |
Destructor.
virtual CjrlGikStateConstraint* ChppGikPointingConstraint::clone | ( | ) | const [virtual] |
Copy.
Implements CjrlGikStateConstraint.
void ChppGikPointingConstraint::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.
void ChppGikPointingConstraint::computeValue | ( | ) | [virtual] |
Compute the value of the constraint.
Implements CjrlGikStateConstraint.
virtual void ChppGikPointingConstraint::computeVectorizedState | ( | ) | [virtual] |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikPointingConstraint::computeVectorizedTarget | ( | ) | [virtual] |
Compute the target of the constraint as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikPointingConstraint::localOrigin | ( | const vector3d & | inPoint | ) | [virtual] |
Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint).
Implements CjrlGikPointingConstraint.
Reimplemented in ChppGikGazeConstraint.
const vector3d& ChppGikPointingConstraint::localOrigin | ( | ) | [virtual] |
Get the origin of the pointing vector.
Implements CjrlGikPointingConstraint.
virtual void ChppGikPointingConstraint::localVector | ( | const vector3d & | inPoint | ) | [virtual] |
Set the pointing vector in joint's local frame (illelgal operation for gaze constraint).
Implements CjrlGikPointingConstraint.
Reimplemented in ChppGikGazeConstraint.
const vector3d& ChppGikPointingConstraint::localVector | ( | ) | [virtual] |
Set the pointing vector in joint's local frame.
Implements CjrlGikPointingConstraint.
virtual bool ChppGikPointingConstraint::vectorizedTarget | ( | const vectorN & | inTarget | ) | [virtual] |
A unified method to change the target of the constraint with a vectorN.
Implements ChppGikVectorizableConstraint.
void ChppGikPointingConstraint::worldTarget | ( | const vector3d & | inPoint | ) | [virtual] |
Set the target point associated to the constraint (in world's frame).
Implements CjrlGikPointingConstraint.
const vector3d& ChppGikPointingConstraint::worldTarget | ( | ) | [virtual] |
Get the target point associated to the constraint (in world's frame).
Implements CjrlGikPointingConstraint.
vectorN ChppGikPointingConstraint::attLocalOrigin [protected] |
vectorN ChppGikPointingConstraint::attLocalVector [protected] |
vectorN ChppGikPointingConstraint::attWorldTarget [protected] |
vectorN ChppGikPointingConstraint::jointpos [protected] |
matrixNxP ChppGikPointingConstraint::jointrot [protected] |
matrixNxP ChppGikPointingConstraint::matFO [protected] |
matrixNxP ChppGikPointingConstraint::matOP [protected] |
matrixNxP ChppGikPointingConstraint::matOT [protected] |
vectorN ChppGikPointingConstraint::posF [protected] |
vectorN ChppGikPointingConstraint::posO [protected] |
vectorN ChppGikPointingConstraint::posP [protected] |
matrixNxP ChppGikPointingConstraint::rotF [protected] |
matrixNxP ChppGikPointingConstraint::tempJacobian [protected] |
matrixNxP ChppGikPointingConstraint::tempRot [protected] |
vectorN ChppGikPointingConstraint::vecFO [protected] |
vectorN ChppGikPointingConstraint::vecOP [protected] |
vectorN ChppGikPointingConstraint::vecOT [protected] |