CjrlGikTransformationConstraint Class Referenceabstract


Specify a position and orientation constraint on a body of the robot. More...

#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikTransformationConstraint.h>

Inheritance diagram for CjrlGikTransformationConstraint:
Collaboration diagram for CjrlGikTransformationConstraint:

Public Member Functions

virtual void localPoint (const vector3d &inPoint)=0
 
Set the point (in joint's local frame) associated to the constraint. More...
 
virtual const vector3d & localPoint ()=0
 
Get the point associated to the constraint (in joint's local frame). More...
 
virtual void worldTarget (const vector3d &inPoint)=0
 
Set the target point associated to the constraint (in world's frame). More...
 
virtual const vector3d & worldTarget ()=0
 
Get the target point associated to the constraint (in world's frame). More...
 
virtual void targetOrientation (const matrix3d &inRot)=0
 
Set the target orientation for this constraint. More...
 
virtual const matrix3d & targetOrientation ()=0
 
Get the target orientation. More...
 
virtual void targetTransformation (const matrix4d &inTransform)=0
 
Set the target transformation for this constraint. More...
 
virtual const matrix4d & targetTransformation ()=0
 
Get the target transformation More...
 
- Public Member Functions inherited from CjrlGikJointStateConstraint
virtual void joint (CjrlJoint *inJoint)=0
 Set the joint associated to the constraint. More...
 
virtual CjrlJoint * joint ()=0
 Get the joint associated to the constraint. More...
 
- Public Member Functions inherited from CjrlGikStateConstraint
virtual CjrlGikStateConstraintclone () const =0
 
Copy constructor. More...
 
virtual CjrlDynamicRobot & robot ()=0
 
Get associated robot. More...
 
virtual void jacobianRoot (CjrlJoint &inJoint)=0
 
Select the joint in the robot that serves as root for computation of jacobians. More...
 
virtual vectorN & influencingDofs ()=0
 
Get the influencing dofs vector which is 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. More...
 
virtual void computeInfluencingDofs ()=0
 
Compute the influencing dofs vector. More...
 
virtual void computeValue ()=0
 
Compute the value of the constraint. More...
 
virtual void computeJacobian ()=0
 
Compute the Jacobian of the constraint with respect to the internal degrees of freedom and to a selected root joint (see method CjrlGikStateConstraint::jacobianRoot()). More...
 
- Public Member Functions inherited from CjrlLinearConstraint
virtual unsigned int dimension () const =0
 
Get the dimension of the constraint. More...
 
virtual const vectorN & value ()=0
 
Get the constraint value. More...
 
virtual const matrixNxP & jacobian ()=0
 
Get the constraint Jacobian More...
 
virtual ~CjrlLinearConstraint ()
 
Destructor More...
 

Detailed Description


Specify a position and orientation constraint on a body of the robot.

Member Function Documentation

◆ localPoint() [1/2]

virtual void CjrlGikTransformationConstraint::localPoint ( const vector3d &  inPoint)
pure virtual


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

◆ localPoint() [2/2]

virtual const vector3d& CjrlGikTransformationConstraint::localPoint ( )
pure virtual


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

◆ targetOrientation() [1/2]

virtual void CjrlGikTransformationConstraint::targetOrientation ( const matrix3d &  inRot)
pure virtual


Set the target orientation for this constraint.

◆ targetOrientation() [2/2]

virtual const matrix3d& CjrlGikTransformationConstraint::targetOrientation ( )
pure virtual


Get the target orientation.

◆ targetTransformation() [1/2]

virtual void CjrlGikTransformationConstraint::targetTransformation ( const matrix4d &  inTransform)
pure virtual


Set the target transformation for this constraint.

◆ targetTransformation() [2/2]

virtual const matrix4d& CjrlGikTransformationConstraint::targetTransformation ( )
pure virtual


Get the target transformation

◆ worldTarget() [1/2]

virtual void CjrlGikTransformationConstraint::worldTarget ( const vector3d &  inPoint)
pure virtual


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

◆ worldTarget() [2/2]

virtual const vector3d& CjrlGikTransformationConstraint::worldTarget ( )
pure virtual


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