CjrlGikPointingConstraint Class Referenceabstract

Constraint on a line segment attached to a body to be aligned with a given point in the world frame. More...

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

Inheritance diagram for CjrlGikPointingConstraint:
Collaboration diagram for CjrlGikPointingConstraint:

Public Member Functions

virtual void localOrigin (const vector3d &inPoint)=0
 Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint). More...
 
virtual const vector3d & localOrigin ()=0
 Get the origin of the pointing vector. More...
 
virtual void localVector (const vector3d &inPoint)=0
 Set the pointing vector in joint's local frame (illelgal operation for gaze constraint). 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 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 line segment attached to a body to be aligned with a given point in the world frame.

The line segment is defined by an origin point and a vector both given in the body's local frame.

Member Function Documentation

◆ localOrigin() [1/2]

virtual void CjrlGikPointingConstraint::localOrigin ( const vector3d &  inPoint)
pure virtual

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

Implemented in CjrlGikGazeConstraint.

◆ localOrigin() [2/2]

virtual const vector3d& CjrlGikPointingConstraint::localOrigin ( )
pure virtual

Get the origin of the pointing vector.

◆ localVector() [1/2]

virtual void CjrlGikPointingConstraint::localVector ( const vector3d &  inPoint)
pure virtual

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

Implemented in CjrlGikGazeConstraint.

◆ localVector() [2/2]

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

Set the pointing vector in joint's local frame.

◆ worldTarget() [1/2]

virtual void CjrlGikPointingConstraint::worldTarget ( const vector3d &  inPoint)
pure virtual

Set the target point associated to the constraint (in world's frame).

◆ worldTarget() [2/2]

virtual const vector3d& CjrlGikPointingConstraint::worldTarget ( )
pure virtual

Get the target point associated to the constraint (in world's frame).