ChppGikJointStateConstraint Class Reference

Implementation of some commom functions in CjrlGikJointStateConstraint. More...

#include <hpp/gik/constraint/joint-state-constraint.hh>

Inheritance diagram for ChppGikJointStateConstraint:
Collaboration diagram for ChppGikJointStateConstraint:

List of all members.

Public Member Functions

 ChppGikJointStateConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, unsigned int inDimension)
 Constructor.
virtual unsigned int dimension () const
 Get the dimension of the constraint.
virtual CjrlDynamicRobot & robot ()
 Get robot associated to the constraint.
virtual void joint (CjrlJoint *inJoint)
 Set the joint associated to the constraint.
virtual CjrlJoint * joint ()
 Get the joint associated to the constraint.
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 const vectorNvalue ()
 Get the constraint value.
virtual const matrixNxPjacobian ()
 Get the constraint jacobian.
virtual vectorNinfluencingDofs ()
 Get the influencing dofs.
virtual void jacobianRoot (CjrlJoint &inJoint)
 inherited.

Protected Attributes

vectorN attValue
matrixNxP attJacobian
vectorN attInfluencingDofs
CjrlJoint * attRootJoint

Detailed Description

Implementation of some commom functions in CjrlGikJointStateConstraint.


Constructor & Destructor Documentation

ChppGikJointStateConstraint::ChppGikJointStateConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
unsigned int  inDimension 
)

Constructor.

Parameters:
inRobotReference to the robot the constraint is associated to.
inJointReference to the joint the constraint is associated to.
inDimensionof the constraint.

Member Function Documentation

virtual void ChppGikJointStateConstraint::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 unsigned int ChppGikJointStateConstraint::dimension ( ) const [virtual]

Get the dimension of the constraint.

Implements CjrlLinearConstraint.

virtual vectorN& ChppGikJointStateConstraint::influencingDofs ( ) [virtual]

Get the influencing dofs.

Implements CjrlGikStateConstraint.

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

Get the constraint jacobian.

Implements CjrlLinearConstraint.

virtual void ChppGikJointStateConstraint::jacobianRoot ( CjrlJoint &  inJoint) [virtual]

inherited.

Will trigger computeInfluencingDofs() when the joint changes

Implements CjrlGikStateConstraint.

virtual void ChppGikJointStateConstraint::joint ( CjrlJoint *  inJoint) [virtual]

Set the joint associated to the constraint.

Will trigger computeInfluencingDofs() when the joint changes

Implements CjrlGikJointStateConstraint.

Reimplemented in ChppGikGazeConstraint.

virtual CjrlJoint* ChppGikJointStateConstraint::joint ( ) [inline, virtual]

Get the joint associated to the constraint.

Implements CjrlGikJointStateConstraint.

virtual CjrlDynamicRobot& ChppGikJointStateConstraint::robot ( ) [inline, virtual]

Get robot associated to the constraint.

Implements CjrlGikStateConstraint.

virtual const vectorN& ChppGikJointStateConstraint::value ( ) [virtual]

Get the constraint value.

Implements CjrlLinearConstraint.


Member Data Documentation