CjrlGikParallelConstraint Class Referenceabstract


Constraint on a vector in a joint frame to be parallel to a vector given in world frame. More...

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

Inheritance diagram for CjrlGikParallelConstraint:
Collaboration diagram for CjrlGikParallelConstraint:

Public Member Functions

virtual void localVector (const vector3d &inVector)=0
 
Set the vector $\vec{R}$ associated to the constraint (in joint's local frame). More...
 
virtual const vector3d & localVector ()=0
 
Get the vector associated to the constraint (in joint's local frame). More...
 
virtual void targetVector (const vector3d &inVector)=0
 
Set the target vector $\vec{R}_T$ associated to the constraint. More...
 
virtual const vector3d & targetVector ()=0
 
Get the target vector associated to the constraint. 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


Constraint on a vector in a joint frame to be parallel to a vector given in world frame.

The constraint is defined by the following equation:

\begin{eqnarray*} \vec{R}\times \vec{R}_T = 0 \end{eqnarray*}

where

  • $\vec{R}$ is a vector in the joint frame (specified in the joint's local frame).
  • $\vec{R}_T$ is a vector in the global frame.

Member Function Documentation

◆ localVector() [1/2]

virtual void CjrlGikParallelConstraint::localVector ( const vector3d &  inVector)
pure virtual


Set the vector $\vec{R}$ associated to the constraint (in joint's local frame).

◆ localVector() [2/2]

virtual const vector3d& CjrlGikParallelConstraint::localVector ( )
pure virtual


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

◆ targetVector() [1/2]

virtual void CjrlGikParallelConstraint::targetVector ( const vector3d &  inVector)
pure virtual


Set the target vector $\vec{R}_T$ associated to the constraint.

◆ targetVector() [2/2]

virtual const vector3d& CjrlGikParallelConstraint::targetVector ( )
pure virtual


Get the target vector associated to the constraint.