hpp::constraints::RelativeTransformation Class Reference

Constraint on the relative transformation of two robot joints. More...

#include <hpp/constraints/relative-transformation.hh>

Inheritance diagram for hpp::constraints::RelativeTransformation:
Collaboration diagram for hpp::constraints::RelativeTransformation:

Public Member Functions

virtual ~RelativeTransformation () throw ()
 
void reference (const Transform3f &reference)
 Set desired relative transformation. More...
 
const Transform3freference () const
 Get desired relative orientation. More...
 
- Public Member Functions inherited from hpp::constraints::DifferentiableFunction
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 ()
 
- Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
 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
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ ~RelativeTransformation()

virtual hpp::constraints::RelativeTransformation::~RelativeTransformation ( )
throw (
)
inlinevirtual

◆ RelativeTransformation()

hpp::constraints::RelativeTransformation::RelativeTransformation ( const std::string &  name,
const DevicePtr_t ,
const JointPtr_t joint1,
const JointPtr_t joint2,
const Transform3f reference,
std::vector< bool >  mask 
)
protected

Constructor.

Parameters
namethe name of the constraints,
robotthe robot the constraints is applied to,
joint1the first joint the transformation of which is constrained,
joint2the second joint the transformation of which is constrained,
referencedesired relative transformation $T_1(\mathbf{q})^{-1} T_2(\mathbf{q})$ between the joints.
maskvector of 6 boolean defining which coordinates of the error vector to take into account.

Member Function Documentation

◆ create() [1/2]

static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeTransformationPtr_t hpp::constraints::RelativeTransformation::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) 
)
static

Return a shared pointer to a new instance.

Parameters
namethe name of the constraints,
robotthe robot the constraints is applied to,
joint1the first joint the transformation of which is constrained,
joint2the second joint the transformation of which is constrained,
referencedesired relative transformation $T_1(\mathbf{q})^{-1} T_2(\mathbf{q})$ between the joints.
maskwhich component of the error vector to take into account.

◆ create() [2/2]

static RelativeTransformationPtr_t hpp::constraints::RelativeTransformation::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) 
)
static

Return a shared pointer to a new instance.

Parameters
robotthe robot the constraints is applied to,
joint1the first joint the transformation of which is constrained,
joint2the second joint the transformation of which is constrained,
referencedesired relative transformation $T_1(\mathbf{q})^{-1} T_2(\mathbf{q})$ between the joints.
maskwhich component of the error vector to take into account.

◆ impl_compute()

virtual void hpp::constraints::RelativeTransformation::impl_compute ( vectorOut_t  result,
ConfigurationIn_t  argument 
) const
throw (
)
protectedvirtual

Compute value of error.

Parameters
argumentconfiguration of the robot,
Return values
resulterror vector

◆ impl_jacobian()

virtual void hpp::constraints::RelativeTransformation::impl_jacobian ( matrixOut_t  jacobian,
ConfigurationIn_t  arg 
) const
throw (
)
protectedvirtual

◆ reference() [1/2]

void hpp::constraints::RelativeTransformation::reference ( const Transform3f reference)
inline

Set desired relative transformation.

◆ reference() [2/2]

const Transform3f& hpp::constraints::RelativeTransformation::reference ( ) const
inline

Get desired relative orientation.