Constraint on the relative transformation of two robot joints. More...
#include <hpp/constraints/relative-transformation.hh>
Public Member Functions | |
virtual | ~RelativeTransformation () throw () |
void | reference (const Transform3f &reference) |
Set desired relative transformation. More... | |
const Transform3f & | reference () const |
Get desired relative orientation. More... | |
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virtual | ~DifferentiableFunction () |
void | operator() (vectorOut_t result, vectorIn_t argument) const |
Evaluate the function at a given parameter. More... | |
void | jacobian (matrixOut_t jacobian, vectorIn_t argument) const |
Computes the jacobian. More... | |
size_type | inputSize () const |
Get dimension of input vector. More... | |
size_type | inputDerivativeSize () const |
Get dimension of input derivative vector. More... | |
size_type | outputSize () const |
Get dimension of output vector. More... | |
const std::string & | name () const |
Get function name. More... | |
virtual std::ostream & | print (std::ostream &o) const |
Display object in a stream. More... | |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeTransformationPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const Transform3f &reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)(true)(true)(true)) |
Return a shared pointer to a new instance. More... | |
static RelativeTransformationPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const Transform3f &reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)(true)(true)(true)) |
Return a shared pointer to a new instance. More... | |
Protected Member Functions | |
RelativeTransformation (const std::string &name, const DevicePtr_t &, const JointPtr_t &joint1, const JointPtr_t &joint2, const Transform3f &reference, std::vector< bool > mask) | |
Constructor. More... | |
virtual void | impl_compute (vectorOut_t result, ConfigurationIn_t argument) const throw () |
Compute value of error. More... | |
virtual void | impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const throw () |
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DifferentiableFunction (size_type inputSize, size_type inputDerivativeSize, size_type outputSize, std::string name=std::string()) | |
Concrete class constructor should call this constructor. More... | |
virtual void | impl_compute (vectorOut_t result, vectorIn_t argument) const =0 |
User implementation of function evaluation. More... | |
virtual void | impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0 |
Constraint on the relative transformation of two robot joints.
The 3 first coordinates of the error is computed by a RelativePosition instance where the origin of Joint 2 should coincide with the translation part of the reference transformation passed to this.
The 3 last coordinates of the error are computed by a RelativeOrientation instance.
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inlinevirtual |
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protected |
Constructor.
name | the name of the constraints, |
robot | the robot the constraints is applied to, |
joint1 | the first joint the transformation of which is constrained, |
joint2 | the second joint the transformation of which is constrained, |
reference | desired relative transformation ![]() |
mask | vector of 6 boolean defining which coordinates of the error vector to take into account. |
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static |
Return a shared pointer to a new instance.
name | the name of the constraints, |
robot | the robot the constraints is applied to, |
joint1 | the first joint the transformation of which is constrained, |
joint2 | the second joint the transformation of which is constrained, |
reference | desired relative transformation ![]() |
mask | which component of the error vector to take into account. |
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static |
Return a shared pointer to a new instance.
robot | the robot the constraints is applied to, |
joint1 | the first joint the transformation of which is constrained, |
joint2 | the second joint the transformation of which is constrained, |
reference | desired relative transformation ![]() |
mask | which component of the error vector to take into account. |
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protectedvirtual |
Compute value of error.
argument | configuration of the robot, |
result | error vector |
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protectedvirtual |
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inline |
Set desired relative transformation.
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inline |
Get desired relative orientation.