Constraint on a line segment attached to a body to be aligned with a given point in the world frame.
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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...
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virtual const vector3d & | localOrigin ()=0 |
| Get the origin of the pointing vector. More...
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virtual void | localVector (const vector3d &inPoint)=0 |
| Set the pointing vector in joint's local frame (illelgal operation for gaze constraint). More...
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virtual const vector3d & | localVector ()=0 |
| Set the pointing vector in joint's local frame. More...
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virtual void | worldTarget (const vector3d &inPoint)=0 |
| Set the target point associated to the constraint (in world's frame). More...
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virtual const vector3d & | worldTarget ()=0 |
| Get the target point associated to the constraint (in world's frame). More...
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virtual void | joint (CjrlJoint *inJoint)=0 |
| Set the joint associated to the constraint. More...
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virtual CjrlJoint * | joint ()=0 |
| Get the joint associated to the constraint. More...
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virtual CjrlGikStateConstraint * | clone () const =0 |
| Copy constructor. More...
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virtual CjrlDynamicRobot & | robot ()=0 |
| Get associated robot. More...
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virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
| Select the joint in the robot that serves as root for computation of jacobians. More...
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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...
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virtual void | computeInfluencingDofs ()=0 |
| Compute the influencing dofs vector. More...
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virtual void | computeValue ()=0 |
| Compute the value of the constraint. More...
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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...
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virtual unsigned int | dimension () const =0 |
| Get the dimension of the constraint. More...
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virtual const vectorN & | value ()=0 |
| Get the constraint value. More...
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virtual const matrixNxP & | jacobian ()=0 |
| Get the constraint Jacobian. More...
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virtual | ~CjrlLinearConstraint () |
| Destructor. More...
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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.