Specify a 3D position constraint on a point of the robot. More...
#include <hpp/gik/constraint/transformation-constraint.hh>
Public Member Functions | |
ChppGikTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inPointInWorldFrame, const matrix3d &inOrientation) | |
Constructor. | |
ChppGikTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const matrix4d &inTransformation) | |
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 | targetOrientation (const matrix3d &inRot) |
Set the target orientation for this constraint. | |
virtual const matrix3d & | targetOrientation () |
Get the point associated to the constraint (in joint's local frame). | |
virtual void | targetTransformation (const matrix4d &inTransform) |
Set the target transformation for this constraint. | |
virtual const matrix4d & | targetTransformation () |
Get the target transformation. | |
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 | ~ChppGikTransformationConstraint () |
Destructor. |
Specify a 3D position constraint on a point of the robot.
ChppGikTransformationConstraint::ChppGikTransformationConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
const vector3d & | inPointInBodyLocalFrame, | ||
const vector3d & | inPointInWorldFrame, | ||
const matrix3d & | inOrientation | ||
) |
Constructor.
ChppGikTransformationConstraint::ChppGikTransformationConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
const vector3d & | inPointInBodyLocalFrame, | ||
const matrix4d & | inTransformation | ||
) |
virtual ChppGikTransformationConstraint::~ChppGikTransformationConstraint | ( | ) | [inline, virtual] |
Destructor.
virtual CjrlGikStateConstraint* ChppGikTransformationConstraint::clone | ( | ) | const [virtual] |
Copy the object.
Implements CjrlGikStateConstraint.
Reimplemented in ChppGikRelativeTransformationConstraint.
virtual void ChppGikTransformationConstraint::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 ChppGikRelativeTransformationConstraint.
virtual void ChppGikTransformationConstraint::computeValue | ( | ) | [virtual] |
Compute the value of the constraint.
Implements CjrlGikStateConstraint.
Reimplemented in ChppGikRelativeTransformationConstraint.
virtual void ChppGikTransformationConstraint::computeVectorizedState | ( | ) | [virtual] |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikTransformationConstraint::computeVectorizedTarget | ( | ) | [virtual] |
Compute the target of the constraint as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikTransformationConstraint::localPoint | ( | const vector3d & | inPoint | ) | [virtual] |
Set the point (in joint's local frame) associated to the constraint.
Implements CjrlGikTransformationConstraint.
virtual const vector3d& ChppGikTransformationConstraint::localPoint | ( | ) | [virtual] |
Get the point associated to the constraint (in joint's local frame).
Implements CjrlGikTransformationConstraint.
virtual void ChppGikTransformationConstraint::targetOrientation | ( | const matrix3d & | inRot | ) | [virtual] |
Set the target orientation for this constraint.
Implements CjrlGikTransformationConstraint.
virtual const matrix3d& ChppGikTransformationConstraint::targetOrientation | ( | ) | [virtual] |
Get the point associated to the constraint (in joint's local frame).
Implements CjrlGikTransformationConstraint.
virtual void ChppGikTransformationConstraint::targetTransformation | ( | const matrix4d & | inTransform | ) | [virtual] |
Set the target transformation for this constraint.
Implements CjrlGikTransformationConstraint.
virtual const matrix4d& ChppGikTransformationConstraint::targetTransformation | ( | ) | [virtual] |
Get the target transformation.
Implements CjrlGikTransformationConstraint.
virtual bool ChppGikTransformationConstraint::vectorizedTarget | ( | const vectorN & | inTarget | ) | [virtual] |
A unified method to change the target of the constraint with a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikTransformationConstraint::worldTarget | ( | const vector3d & | inPoint | ) | [virtual] |
Set the target point associated to the constraint (in world's frame).
Implements CjrlGikTransformationConstraint.
virtual const vector3d& ChppGikTransformationConstraint::worldTarget | ( | ) | [virtual] |
Get the target point associated to the constraint (in world's frame).
Implements CjrlGikTransformationConstraint.