Specify a transformation constraint on a joint of the robot, relatively to another joint. More...
#include <hpp/gik/constraint/relative-transformation-constraint.hh>
Public Member Functions | |
ChppGikRelativeTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, CjrlJoint *inRootJoint, const matrix4d &inRelativeTransformation) | |
Constructor. | |
virtual CjrlGikStateConstraint * | clone () 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. |
Specify a transformation constraint on a joint of the robot, relatively to another joint.
ChppGikRelativeTransformationConstraint::ChppGikRelativeTransformationConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
CjrlJoint * | inRootJoint, | ||
const matrix4d & | inRelativeTransformation | ||
) |
Constructor.
virtual ChppGikRelativeTransformationConstraint::~ChppGikRelativeTransformationConstraint | ( | ) | [inline, virtual] |
Destructor.
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.