Specify a full or partial position constraint on the center of mass. More...
#include <hpp/gik/constraint/com-constraint.hh>
Public Member Functions | |
virtual | ~ChppGikComConstraint () |
Destructor. | |
void | jacobianRoot (CjrlJoint &inJoint) |
Set the jacobian root. | |
Definition of the constraint | |
ChppGikComConstraint (CjrlDynamicRobot &inRobot, double inX, double inY) | |
Constructor. | |
CjrlGikStateConstraint * | clone () const |
Copy the object. | |
virtual unsigned int | dimension () const |
Get the dimension of the constraint. | |
virtual CjrlDynamicRobot & | robot () |
Get robot associated to the constraint. | |
virtual void | targetXY (double inX, double inY) |
Set a constraint on Xcom and Ycom (in world's frame). | |
virtual void | targetXYZ (const vectorN &inTarget) |
Set constraint on x,y,z of com (in world's frame). | |
virtual const vectorN & | worldTarget () |
Get the target point associated to the constraint (in world's frame). | |
Computations | |
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 vectorN & | influencingDofs () |
Get the influencing dofs. | |
virtual void | computeValue () |
Compute the value of the constraint. | |
virtual void | computeJacobian () |
Get the constraint Jacobian wrt internal configuration variables. | |
Getting result of computations | |
virtual const vectorN & | value () |
Get the constraint value. | |
virtual const matrixNxP & | jacobian () |
Get the constraint jacobian. |
Specify a full or partial position constraint on the center of mass.
ChppGikComConstraint::ChppGikComConstraint | ( | CjrlDynamicRobot & | inRobot, |
double | inX, | ||
double | inY | ||
) |
Constructor.
virtual ChppGikComConstraint::~ChppGikComConstraint | ( | ) | [inline, virtual] |
Destructor.
CjrlGikStateConstraint* ChppGikComConstraint::clone | ( | ) | const [virtual] |
virtual void ChppGikComConstraint::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 ChppGikComConstraint::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 ChppGikRelativeComConstraint.
virtual void ChppGikComConstraint::computeValue | ( | ) | [virtual] |
Compute the value of the constraint.
Implements CjrlGikStateConstraint.
Reimplemented in ChppGikRelativeComConstraint.
virtual unsigned int ChppGikComConstraint::dimension | ( | ) | const [virtual] |
Get the dimension of the constraint.
Implements CjrlLinearConstraint.
virtual vectorN& ChppGikComConstraint::influencingDofs | ( | ) | [virtual] |
Get the influencing dofs.
Implements CjrlGikStateConstraint.
virtual const matrixNxP& ChppGikComConstraint::jacobian | ( | ) | [virtual] |
Get the constraint jacobian.
Implements CjrlLinearConstraint.
Reimplemented in ChppGikRelativeComConstraint.
void ChppGikComConstraint::jacobianRoot | ( | CjrlJoint & | inJoint | ) | [virtual] |
Set the jacobian root.
Implements CjrlGikStateConstraint.
virtual CjrlDynamicRobot& ChppGikComConstraint::robot | ( | ) | [virtual] |
Get robot associated to the constraint.
Implements CjrlGikStateConstraint.
virtual void ChppGikComConstraint::targetXY | ( | double | inX, |
double | inY | ||
) | [virtual] |
Set a constraint on Xcom and Ycom (in world's frame).
Implements CjrlGikComConstraint.
virtual void ChppGikComConstraint::targetXYZ | ( | const vectorN & | inTarget | ) | [virtual] |
Set constraint on x,y,z of com (in world's frame).
Implements CjrlGikComConstraint.
virtual const vectorN& ChppGikComConstraint::value | ( | ) | [virtual] |
Get the constraint value.
Implements CjrlLinearConstraint.
virtual const vectorN& ChppGikComConstraint::worldTarget | ( | ) | [virtual] |
Get the target point associated to the constraint (in world's frame).
Implements CjrlGikComConstraint.