CjrlGikGazeConstraint Class Reference


This is a PointingConstraint whose joint is the humanoid robot's gaze joint. More...

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

Inheritance diagram for CjrlGikGazeConstraint:
Collaboration diagram for CjrlGikGazeConstraint:

Public Member Functions

virtual void joint (CjrlJoint *inJoint)
 Set the joint associated to the constraint (should be an illelgal operation for gaze constraint). More...
 
virtual void localOrigin (const vector3d &inPoint)
 
Set the origin of the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint). More...
 
virtual void localVector (const vector3d &inPoint)
 
Set the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint). More...
 
- Public Member Functions inherited from CjrlGikPointingConstraint
virtual const vector3d & localOrigin ()=0
 
Get the origin of the pointing vector. More...
 
virtual const vector3d & localVector ()=0
 
Set the pointing vector 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...
 
- Public Member Functions inherited from CjrlGikJointStateConstraint
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


This is a PointingConstraint whose joint is the humanoid robot's gaze joint.

Only the target point in the world is provided.

Member Function Documentation

◆ joint()

virtual void CjrlGikGazeConstraint::joint ( CjrlJoint *  inJoint)
inlinevirtual

Set the joint associated to the constraint (should be an illelgal operation for gaze constraint).

Implements CjrlGikJointStateConstraint.

◆ localOrigin()

virtual void CjrlGikGazeConstraint::localOrigin ( const vector3d &  inPoint)
inlinevirtual


Set the origin of the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).

Implements CjrlGikPointingConstraint.

◆ localVector()

virtual void CjrlGikGazeConstraint::localVector ( const vector3d &  inPoint)
inlinevirtual


Set the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).

Implements CjrlGikPointingConstraint.