Constraint on the position of a robot point. More...
#include <hpp/constraints/position.hh>
Public Member Functions | |
virtual | ~Position () throw () |
void | reference (const vector3_t &reference) |
Set position of target point in global frame. More... | |
const vector3_t & | reference () const |
Get position of target point in global frame. More... | |
Position (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t &pointInLocalFrame, const vector3_t &targetInGlobalFrame, const matrix3_t &rotation, std::vector< bool > mask) | |
Constructor. 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 PositionPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t &pointInLocalFrame, const vector3_t &targetInGlobalFrame, const matrix3_t &rotation=matrix3_t::getIdentity(), std::vector< bool > mask=boost::assign::list_of(true)(true)(true)) |
Return a shared pointer to a new instance. More... | |
static PositionPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t &pointInLocalFrame, const vector3_t &targetInGlobalFrame, const matrix3_t &rotation=matrix3_t::getIdentity(), std::vector< bool > mask=boost::assign::list_of(true)(true)(true)) |
Return a shared pointer to a new instance. More... | |
Static Public Attributes | |
static matrix3_t | I3 |
Identity matrix of size 3. More... | |
Protected Member Functions | |
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 position of a robot point.
The value of the function is defined as the vector from a local point in the joint frame to a target point in the world frame expressed in some frame:
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inlinevirtual |
hpp::constraints::Position::Position | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint, | ||
const vector3_t & | pointInLocalFrame, | ||
const vector3_t & | targetInGlobalFrame, | ||
const matrix3_t & | rotation, | ||
std::vector< bool > | mask | ||
) |
Constructor.
name | the name of the constraints, |
robot | the robot the constraint applies to, |
joint | the joint the position of which is constrained, |
pointInLocalFrame | point in local frame, |
targetInGlobalFrame | target point in globalframe. |
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static |
Return a shared pointer to a new instance.
name | the name of the constraints, |
robot | the robot the constraint applies to, |
joint | the joint the position of which is constrained, |
pointInLocalFrame | point in local frame, |
targetInGlobalFrame | target point in globalframe, |
rotation | frame in which the error is expressed, |
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 constraint applies to, |
joint | the joint the position of which is constrained, |
pointInLocalFrame | point in local frame, |
targetInGlobalFrame | target point in globalframe, |
rotation | frame in which the error is expressed, |
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 position of target point in global frame.
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inline |
Get position of target point in global frame.
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static |
Identity matrix of size 3.