|
static RelativePosePtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3f &frame1, const Transform3f &frame2, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >()) |
|
static RelativePosePtr_t | createCopy (const RelativePosePtr_t &other) |
|
static ExplicitPtr_t | create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t(), std::vector< bool > mask=std::vector< bool >()) |
|
static ExplicitPtr_t | createCopy (const ExplicitPtr_t &other) |
| Create a copy and return shared pointer. More...
|
|
static ImplicitPtr_t | create (const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >()) |
|
static ImplicitPtr_t | createCopy (const ImplicitPtr_t &other) |
| Create a copy and return shared pointer. More...
|
|
|
| RelativePose (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3f &frame1, const Transform3f &frame2, ComparisonTypes_t comp=ComparisonTypes_t(), std::vector< bool > mask=std::vector< bool >(6, true)) |
|
| RelativePose (const RelativePose &other) |
| Copy constructor. More...
|
|
void | init (RelativePoseWkPtr_t weak) |
| Store weak pointer to itself. More...
|
|
| Explicit (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask) |
|
| Explicit (const DifferentiableFunctionPtr_t &implicitFunction, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask) |
| (const LiegroupSpacePtr_t&, const DifferentiableFunctionPtr_t&, const segments_t& inputConf, const segments_t& outputConf, const segments_t& inputVelocity, const segments_t&, const ComparisonTypes_t&); More...
|
|
| Explicit (const Explicit &other) |
| Copy constructor. More...
|
|
void | init (const ExplicitWkPtr_t &weak) |
|
| Explicit () |
|
| Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask) |
|
| Implicit (const Implicit &other) |
| Copy constructor. More...
|
|
virtual bool | isEqual (const Implicit &other, bool swapAndTest) const |
|
void | init (const ImplicitWkPtr_t &weak) |
|
| Implicit () |
|
Constraint of relative pose between two frames on a kinematic chain.
Compute the value of the output configuration variables
- Parameters
-
qin | input configuration variables, |
rhs | right hand side of constraint |
\begin{equation} f \left(\mathbf{q}_{in}\right) + rhs_{expl} \end{equation}
where \(rhs_{expl}\) is the explicit right hand side converted using the following expression:
\begin{equation} rhs_{expl} = \log_{SE(3)}\left( F_{2/J_2} rhs_{impl} F_{2/J_2}^{-1} \right) \end{equation}
Reimplemented from hpp::constraints::Explicit.