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>
Public Member Functions | |
ChppGikPlaneConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inWorldPlanePoint, const vector3d &inWorldPlaneNormal) | |
Constructor. | |
virtual CjrlGikStateConstraint * | clone () const |
Copy the object. | |
virtual void | localPoint (const vector3d &inPoint) |
Set the point (in joint's local frame) associated to the constraint. | |
virtual const vector3d & | localPoint () |
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 vector3d & | worldPlanePoint () |
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 vector3d & | worldPlaneNormal () |
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. |
Description of a constraint that limits the position of a point of the robot to a given plan.
ChppGikPlaneConstraint::ChppGikPlaneConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
const vector3d & | inPointInBodyLocalFrame, | ||
const vector3d & | inWorldPlanePoint, | ||
const vector3d & | inWorldPlaneNormal | ||
) |
Constructor.
virtual ChppGikPlaneConstraint::~ChppGikPlaneConstraint | ( | ) | [inline, virtual] |
Destructor.
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.
inTarget | must 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.