ChppGikRelativeTransformationConstraint Class Reference

Specify a transformation constraint on a joint of the robot, relatively to another joint. More...

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

Inheritance diagram for ChppGikRelativeTransformationConstraint:
Collaboration diagram for ChppGikRelativeTransformationConstraint:

List of all members.

Public Member Functions

 ChppGikRelativeTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, CjrlJoint *inRootJoint, const matrix4d &inRelativeTransformation)
 Constructor.
virtual 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 ~ChppGikRelativeTransformationConstraint ()
 Destructor.

Detailed Description

Specify a transformation constraint on a joint of the robot, relatively to another joint.


Constructor & Destructor Documentation

ChppGikRelativeTransformationConstraint::ChppGikRelativeTransformationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
CjrlJoint *  inRootJoint,
const matrix4d inRelativeTransformation 
)

Constructor.

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

Destructor.


Member Function Documentation

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

Copy the object.

Reimplemented from ChppGikTransformationConstraint.

virtual void ChppGikRelativeTransformationConstraint::computeJacobian ( ) [virtual]

Get the constraint Jacobian wrt internal configuration variables.

Reimplemented from ChppGikTransformationConstraint.

virtual void ChppGikRelativeTransformationConstraint::computeValue ( ) [virtual]

Compute the value of the constraint.

Reimplemented from ChppGikTransformationConstraint.