CjrlGikStateConstraint Class Referenceabstract

Specify a linear constraint over the state of a humanoid robot. More...

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

Inheritance diagram for CjrlGikStateConstraint:
Collaboration diagram for CjrlGikStateConstraint:

Public Member Functions

virtual CjrlGikStateConstraintclone () const =0
 Copy constructor. More...
 
Definition of the constraint.
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...
 
Computations
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 linear constraint over the state of a humanoid robot.

Member Function Documentation

◆ clone()

virtual CjrlGikStateConstraint* CjrlGikStateConstraint::clone ( ) const
pure virtual

Copy constructor.

◆ computeInfluencingDofs()

virtual void CjrlGikStateConstraint::computeInfluencingDofs ( )
pure virtual

Compute the influencing dofs vector.

◆ computeJacobian()

virtual void CjrlGikStateConstraint::computeJacobian ( )
pure virtual

Compute the Jacobian of the constraint with respect to the internal degrees of freedom and to a selected root joint (see method CjrlGikStateConstraint::jacobianRoot()).

◆ computeValue()

virtual void CjrlGikStateConstraint::computeValue ( )
pure virtual

Compute the value of the constraint.

◆ influencingDofs()

virtual vectorN& CjrlGikStateConstraint::influencingDofs ( )
pure virtual

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.

◆ jacobianRoot()

virtual void CjrlGikStateConstraint::jacobianRoot ( CjrlJoint &  inJoint)
pure virtual

Select the joint in the robot that serves as root for computation of jacobians.

◆ robot()

virtual CjrlDynamicRobot& CjrlGikStateConstraint::robot ( )
pure virtual

Get associated robot.