Constraint on the relative position of two robot joints. More...
#include <hpp/constraints/relative-position.hh>
Public Member Functions | |
virtual | ~RelativePosition () throw () |
RelativePosition (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2, std::vector< bool > mask=boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >()) | |
Constructor. More... | |
const vector3_t & | pointInJoint1 () const |
Get reference point in joint 1. More... | |
void | pointInJoint1 (const vector3_t &reference) |
Set reference point in joint 1. More... | |
const vector3_t & | pointInJoint2 () const |
Get reference point in joint 2. More... | |
void | pointInJoint2 (const vector3_t &reference) |
Set reference point in joint 2. More... | |
![]() | |
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 RelativePositionPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2, std::vector< bool > mask=boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >()) |
Return a shared pointer to a new instance. More... | |
static RelativePositionPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2, std::vector< bool > mask=boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >()) |
Return a shared pointer to a new instance. 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 () |
![]() | |
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 position of two robot joints.
The value of the function is defined as follows:
and
are the position of the points to match expressed in the local frame of each joint.
|
inlinevirtual |
hpp::constraints::RelativePosition::RelativePosition | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint1, | ||
const JointPtr_t & | joint2, | ||
const vector3_t & | point1, | ||
const vector3_t & | point2, | ||
std::vector< bool > | mask = boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >() |
||
) |
Constructor.
robot | the robot the constraints is applied to, |
joint1,joint2 | joints the relative positions of which is constrained. |
point1,point2 | the points on each joint that should coincide expressed in joint local frames. |
mask | which component of the error vector to take into account. |
|
static |
Return a shared pointer to a new instance.
name | the name of the constraints, |
robot | the robot the constraints is applied to, |
joint1,joint2 | joints the relative positions of which is constrained. |
point1,point2 | the points on each joint that should coincide expressed in joint local frames. |
mask | which component of the error vector to take into account. |
|
static |
Return a shared pointer to a new instance.
robot | the robot the constraints is applied to, |
joint1,joint2 | joints the relative positions of which is constrained. |
point1,point2 | the points on each joint that should coincide expressed in joint local frames. |
mask | which component of the error vector to take into account. |
|
protectedvirtual |
Compute value of error.
argument | configuration of the robot, |
result | error vector |
|
protectedvirtual |
|
inline |
Get reference point in joint 1.
|
inline |
Set reference point in joint 1.
|
inline |
Get reference point in joint 2.
|
inline |
Set reference point in joint 2.