ChppGikPositionConstraint Class Reference

Specify a 3D position constraint on a point of the robot. More...

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

Inheritance diagram for ChppGikPositionConstraint:
Collaboration diagram for ChppGikPositionConstraint:

List of all members.

Public Member Functions

 ChppGikPositionConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inPointInWorldFrame)
 Constructor.
virtual CjrlGikStateConstraintclone () const
 Copy the object.
virtual void localPoint (const vector3d &inPoint)
 Set the point (in joint's local frame) associated to the constraint.
virtual const vector3dlocalPoint ()
 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 vector3dworldTarget ()
 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.
virtual void computeValue ()
 Compute the value of the constraint.
virtual void computeJacobian ()
 Get the constraint Jacobian wrt internal configuration variables.
virtual ~ChppGikPositionConstraint ()
 Destructor.

Detailed Description

Specify a 3D position constraint on a point of the robot.


Constructor & Destructor Documentation

ChppGikPositionConstraint::ChppGikPositionConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d inPointInBodyLocalFrame,
const vector3d inPointInWorldFrame 
)

Constructor.

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

Destructor.


Member Function Documentation

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

Copy the object.

Implements CjrlGikStateConstraint.

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

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

virtual void ChppGikPositionConstraint::computeVectorizedState ( ) [virtual]

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

Implements ChppGikVectorizableConstraint.

virtual void ChppGikPositionConstraint::computeVectorizedTarget ( ) [virtual]

Compute the target of the constraint as a vectorN.

Implements ChppGikVectorizableConstraint.

virtual void ChppGikPositionConstraint::localPoint ( const vector3d inPoint) [virtual]

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

Implements CjrlGikPositionConstraint.

virtual const vector3d& ChppGikPositionConstraint::localPoint ( ) [virtual]

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

Implements CjrlGikPositionConstraint.

virtual bool ChppGikPositionConstraint::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.

virtual void ChppGikPositionConstraint::worldTarget ( const vector3d inPoint) [virtual]

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

Implements CjrlGikPositionConstraint.

virtual const vector3d& ChppGikPositionConstraint::worldTarget ( ) [virtual]

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

Implements CjrlGikPositionConstraint.