Specify a full or partial configuration constraint. More...
#include <hpp/gik/constraint/configuration-constraint.hh>
Public Member Functions | |
ChppGikConfigurationConstraint (CjrlDynamicRobot &inRobot, const vectorN &inTargetConfig, const vectorN &inMask) | |
Constructor. | |
~ChppGikConfigurationConstraint () | |
Destructor. | |
virtual CjrlGikStateConstraint * | clone () const |
Copy. | |
bool | target (const vectorN &inTargetConfig) |
set target | |
virtual CjrlDynamicRobot & | robot () |
Get associated robot. | |
virtual unsigned int | dimension () const |
Get the dimension of the constraint. | |
void | jacobianRoot (CjrlJoint &inJoint) |
no ionfluence | |
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 () |
Compute the Jacobian matrix of the constraint value wrt internal configuration variables. | |
virtual const vectorN & | value () |
Get the constraint value. | |
virtual const matrixNxP & | jacobian () |
Get the constraint Jacobian wrt internal configuration variables. | |
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. |
Specify a full or partial configuration constraint.
ChppGikConfigurationConstraint::ChppGikConfigurationConstraint | ( | CjrlDynamicRobot & | inRobot, |
const vectorN & | inTargetConfig, | ||
const vectorN & | inMask | ||
) |
Constructor.
inTargetConfig is of size inRobot.numberDof() and inMask of size inRobot.numberDof() (i.e. excluding free flyer's dofs)
ChppGikConfigurationConstraint::~ChppGikConfigurationConstraint | ( | ) |
Destructor.
virtual CjrlGikStateConstraint* ChppGikConfigurationConstraint::clone | ( | ) | const [virtual] |
Copy.
Implements CjrlGikStateConstraint.
virtual void ChppGikConfigurationConstraint::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 ChppGikConfigurationConstraint::computeJacobian | ( | ) | [virtual] |
Compute the Jacobian matrix of the constraint value wrt internal configuration variables.
The interaction with the environment is taken into account (for instance a foot on the ground).
Implements CjrlGikStateConstraint.
virtual void ChppGikConfigurationConstraint::computeValue | ( | ) | [virtual] |
Compute the value of the constraint.
Implements CjrlGikStateConstraint.
virtual void ChppGikConfigurationConstraint::computeVectorizedState | ( | ) | [virtual] |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual void ChppGikConfigurationConstraint::computeVectorizedTarget | ( | ) | [virtual] |
Compute the target of the constraint as a vectorN.
Implements ChppGikVectorizableConstraint.
virtual unsigned int ChppGikConfigurationConstraint::dimension | ( | ) | const [virtual] |
Get the dimension of the constraint.
Implements CjrlLinearConstraint.
virtual vectorN& ChppGikConfigurationConstraint::influencingDofs | ( | ) | [virtual] |
Get the influencing dofs.
Implements CjrlGikStateConstraint.
virtual const matrixNxP& ChppGikConfigurationConstraint::jacobian | ( | ) | [virtual] |
Get the constraint Jacobian wrt internal configuration variables.
The interaction with the environment is taken into account (for instance a foot on the ground)
Implements CjrlLinearConstraint.
void ChppGikConfigurationConstraint::jacobianRoot | ( | CjrlJoint & | inJoint | ) | [virtual] |
no ionfluence
Implements CjrlGikStateConstraint.
virtual CjrlDynamicRobot& ChppGikConfigurationConstraint::robot | ( | ) | [virtual] |
Get associated robot.
Implements CjrlGikStateConstraint.
bool ChppGikConfigurationConstraint::target | ( | const vectorN & | inTargetConfig | ) |
set target
virtual const vectorN& ChppGikConfigurationConstraint::value | ( | ) | [virtual] |
Get the constraint value.
Implements CjrlLinearConstraint.
virtual bool ChppGikConfigurationConstraint::vectorizedTarget | ( | const vectorN & | inTarget | ) | [virtual] |
A unified method to change the target of the constraint with a vectorN.
Implements ChppGikVectorizableConstraint.