ChppGikTransformationConstraint Class Reference

Specify a 3D position constraint on a point of the robot. More...

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

Inheritance diagram for ChppGikTransformationConstraint:
Collaboration diagram for ChppGikTransformationConstraint:

List of all members.

Public Member Functions

 ChppGikTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inPointInWorldFrame, const matrix3d &inOrientation)
 Constructor.
 ChppGikTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const matrix4d &inTransformation)
virtual CjrlGikStateConstraintclone () const
 Copy the object.
virtual void localPoint (const vector3d &inPoint)
 Set the point (in joint's local frame) associated to the constraint.
virtual const vector3dlocalPoint ()
 Get the point associated to the constraint (in joint's local frame).
virtual void worldTarget (const vector3d &inPoint)
 Set the target point associated to the constraint (in world's frame).
virtual const vector3dworldTarget ()
 Get the target point associated to the constraint (in world's frame).
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 targetTransformation (const matrix4d &inTransform)
 Set the target transformation for this constraint.
virtual const matrix4dtargetTransformation ()
 Get the target transformation.
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 ~ChppGikTransformationConstraint ()
 Destructor.

Detailed Description

Specify a 3D position constraint on a point of the robot.


Constructor & Destructor Documentation

ChppGikTransformationConstraint::ChppGikTransformationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d inPointInBodyLocalFrame,
const vector3d inPointInWorldFrame,
const matrix3d inOrientation 
)

Constructor.

ChppGikTransformationConstraint::ChppGikTransformationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d inPointInBodyLocalFrame,
const matrix4d inTransformation 
)
virtual ChppGikTransformationConstraint::~ChppGikTransformationConstraint ( ) [inline, virtual]

Destructor.


Member Function Documentation

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

Copy the object.

Implements CjrlGikStateConstraint.

Reimplemented in ChppGikRelativeTransformationConstraint.

virtual void ChppGikTransformationConstraint::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.

Reimplemented in ChppGikRelativeTransformationConstraint.

virtual void ChppGikTransformationConstraint::computeValue ( ) [virtual]

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

Reimplemented in ChppGikRelativeTransformationConstraint.

virtual void ChppGikTransformationConstraint::computeVectorizedState ( ) [virtual]

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

Implements ChppGikVectorizableConstraint.

virtual void ChppGikTransformationConstraint::computeVectorizedTarget ( ) [virtual]

Compute the target of the constraint as a vectorN.

Implements ChppGikVectorizableConstraint.

virtual void ChppGikTransformationConstraint::localPoint ( const vector3d inPoint) [virtual]

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

Implements CjrlGikTransformationConstraint.

virtual const vector3d& ChppGikTransformationConstraint::localPoint ( ) [virtual]

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

Implements CjrlGikTransformationConstraint.

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

Set the target orientation for this constraint.

Implements CjrlGikTransformationConstraint.

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

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

Implements CjrlGikTransformationConstraint.

virtual void ChppGikTransformationConstraint::targetTransformation ( const matrix4d inTransform) [virtual]

Set the target transformation for this constraint.

Implements CjrlGikTransformationConstraint.

virtual const matrix4d& ChppGikTransformationConstraint::targetTransformation ( ) [virtual]

Get the target transformation.

Implements CjrlGikTransformationConstraint.

virtual bool ChppGikTransformationConstraint::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.

virtual void ChppGikTransformationConstraint::worldTarget ( const vector3d inPoint) [virtual]

Set the target point associated to the constraint (in world's frame).

Implements CjrlGikTransformationConstraint.

virtual const vector3d& ChppGikTransformationConstraint::worldTarget ( ) [virtual]

Get the target point associated to the constraint (in world's frame).

Implements CjrlGikTransformationConstraint.