Description of a constraint that limits the position of a point of the robot to a given plan.
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virtual void | localPoint (const vector3d &inPoint)=0 |
| Set the point associated to the constraint. More...
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virtual const vector3d & | localPoint ()=0 |
| Get the point associated to the constraint (in joint's local frame). More...
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virtual void | worldPlanePoint (const vector3d &inPoint)=0 |
| Set a point of the target plane (in world's frame). More...
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virtual const vector3d & | worldPlanePoint ()=0 |
| Get the point of the defined plane (in world's frame). More...
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virtual void | worldPlaneNormal (const vector3d &inPoint)=0 |
| Set the normal of the target plane (in world's frame). More...
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virtual const vector3d & | worldPlaneNormal ()=0 |
| Get the normal of the defined plane (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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Description of a constraint that limits the position of a point of the robot to a given plan.
The constraint is defined by the following equation:
where
is a point attached to the joint (specified in the joint's local frame).
is a point in the environment,
is a vector defining the normal to the task plane.