ChppGikPlaneConstraint Class Reference

Description of a constraint that limits the position of a point of the robot to a given plan. More...

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

Inheritance diagram for ChppGikPlaneConstraint:
Collaboration diagram for ChppGikPlaneConstraint:

List of all members.

Public Member Functions

 ChppGikPlaneConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inWorldPlanePoint, const vector3d &inWorldPlaneNormal)
 Constructor.
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 worldPlanePoint (const vector3d &inPoint)
 Set a point of the target plane (in world's frame).
virtual const vector3dworldPlanePoint ()
 Get the point of the defined plane (in world's frame).
virtual void worldPlaneNormal (const vector3d &inPoint)
 Set a point of the target plane (in world's frame).
virtual const vector3dworldPlaneNormal ()
 Get the point of the defined plane (in world's 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 ~ChppGikPlaneConstraint ()
 Destructor.

Detailed Description

Description of a constraint that limits the position of a point of the robot to a given plan.


Constructor & Destructor Documentation

ChppGikPlaneConstraint::ChppGikPlaneConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d inPointInBodyLocalFrame,
const vector3d inWorldPlanePoint,
const vector3d inWorldPlaneNormal 
)

Constructor.

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

Destructor.


Member Function Documentation

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

Copy the object.

Implements CjrlGikStateConstraint.

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

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

virtual void ChppGikPlaneConstraint::computeVectorizedState ( ) [virtual]

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

Implements ChppGikVectorizableConstraint.

virtual void ChppGikPlaneConstraint::computeVectorizedTarget ( ) [virtual]

Compute the target of the constraint as a vectorN.

Implements ChppGikVectorizableConstraint.

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

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

Implements CjrlGikPlaneConstraint.

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

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

Implements CjrlGikPlaneConstraint.

virtual bool ChppGikPlaneConstraint::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.
Parameters:
inTargetmust be of size 6. First three coordinates are for the target plane's point and the last three are for the target plane's normal

Implements ChppGikVectorizableConstraint.

virtual void ChppGikPlaneConstraint::worldPlaneNormal ( const vector3d inPoint) [virtual]

Set a point of the target plane (in world's frame).

Implements CjrlGikPlaneConstraint.

virtual const vector3d& ChppGikPlaneConstraint::worldPlaneNormal ( ) [virtual]

Get the point of the defined plane (in world's frame).

Implements CjrlGikPlaneConstraint.

virtual void ChppGikPlaneConstraint::worldPlanePoint ( const vector3d inPoint) [virtual]

Set a point of the target plane (in world's frame).

Implements CjrlGikPlaneConstraint.

virtual const vector3d& ChppGikPlaneConstraint::worldPlanePoint ( ) [virtual]

Get the point of the defined plane (in world's frame).

Implements CjrlGikPlaneConstraint.