ChppGikRelativeComConstraint Class Reference

Specify a relative position constraint on the center of mass. More...

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

Inheritance diagram for ChppGikRelativeComConstraint:
Collaboration diagram for ChppGikRelativeComConstraint:

List of all members.

Definition of the constraint

 ChppGikRelativeComConstraint (CjrlDynamicRobot &inRobot, CjrlJoint *inJoint, double inX, double inY)
 Constructor.
CjrlGikStateConstraintclone () const
 Copy the object.
virtual void computeValue ()
 Compute the value of the constraint.
virtual void computeJacobian ()
 Get the constraint Jacobian wrt internal configuration variables.
virtual ~ChppGikRelativeComConstraint ()
 Destructor.
virtual const matrixNxPjacobian ()
 Get the constraint jacobian.

Detailed Description

Specify a relative position constraint on the center of mass.


Constructor & Destructor Documentation

ChppGikRelativeComConstraint::ChppGikRelativeComConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint *  inJoint,
double  inX,
double  inY 
)

Constructor.

Parameters:
inRobotRobot
inJointJoint in which the CoM position is computed
inXCoM target position
inYCoM target position
virtual ChppGikRelativeComConstraint::~ChppGikRelativeComConstraint ( ) [virtual]

Destructor.


Member Function Documentation

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

Copy the object.

Reimplemented from ChppGikComConstraint.

virtual void ChppGikRelativeComConstraint::computeJacobian ( ) [virtual]

Get the constraint Jacobian wrt internal configuration variables.

Reimplemented from ChppGikComConstraint.

virtual void ChppGikRelativeComConstraint::computeValue ( ) [virtual]

Compute the value of the constraint.

Reimplemented from ChppGikComConstraint.

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

Get the constraint jacobian.

Reimplemented from ChppGikComConstraint.