ChppGikRotationConstraint Class Reference

Specify a 3D orientation constraint on a body of the robot. More...

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

Inheritance diagram for ChppGikRotationConstraint:
Collaboration diagram for ChppGikRotationConstraint:

List of all members.

Public Member Functions

 ChppGikRotationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const matrix3d &inTargetOrientation)
 Constructor.
virtual CjrlGikStateConstraintclone () const
 Copy the object.
virtual void targetOrientation (const matrix3d &inRot)
 Set the target orientation for this constraint.
virtual const matrix3dtargetOrientation ()
 Get the point associated to the constraint (in joint's local 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 ~ChppGikRotationConstraint ()
 Destructor.

Detailed Description

Specify a 3D orientation constraint on a body of the robot.


Constructor & Destructor Documentation

ChppGikRotationConstraint::ChppGikRotationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const matrix3d inTargetOrientation 
)

Constructor.

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

Destructor.


Member Function Documentation

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

Copy the object.

Implements CjrlGikStateConstraint.

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

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

virtual void ChppGikRotationConstraint::computeVectorizedState ( ) [virtual]

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

Implements ChppGikVectorizableConstraint.

virtual void ChppGikRotationConstraint::computeVectorizedTarget ( ) [virtual]

Compute the target of the constraint as a vectorN.

Implements ChppGikVectorizableConstraint.

virtual void ChppGikRotationConstraint::targetOrientation ( const matrix3d inRot) [virtual]

Set the target orientation for this constraint.

Implements CjrlGikRotationConstraint.

virtual const matrix3d& ChppGikRotationConstraint::targetOrientation ( ) [virtual]

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

Implements CjrlGikRotationConstraint.

virtual bool ChppGikRotationConstraint::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.