Description of a constraint that limits the position of a point of the robot to a given plan.
More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikPlaneConstraint.h>
Public Member Functions | |
virtual void | localPoint (const vector3d &inPoint)=0 |
Set the point ![]() | |
virtual const vector3d & | localPoint ()=0 |
Get the point associated to the constraint (in joint's local frame). More... | |
virtual void | worldPlanePoint (const vector3d &inPoint)=0 |
Set a point ![]() | |
virtual const vector3d & | worldPlanePoint ()=0 |
Get the point of the defined plane (in world's frame). More... | |
virtual void | worldPlaneNormal (const vector3d &inPoint)=0 |
Set the normal ![]() | |
virtual const vector3d & | worldPlaneNormal ()=0 |
Get the normal of the defined plane (in world's frame). More... | |
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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... | |
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virtual CjrlGikStateConstraint * | clone () 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... | |
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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... | |
Description of a constraint that limits the position of a point of the robot to a given plan.
The constraint is defined by the following equation:
where
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pure virtual |
Set the point associated to the constraint.
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pure virtual |
Get the point associated to the constraint (in joint's local frame).
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pure virtual |
Set the normal of the target plane (in world's frame).
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pure virtual |
Get the normal of the defined plane (in world's frame).
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pure virtual |
Set a point of the target plane (in world's frame).
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pure virtual |
Get the point of the defined plane (in world's frame).