Constraint on the relative position of the center of mass. More...
#include <hpp/constraints/relative-com.hh>
Public Member Functions | |
virtual | ~RelativeCom () throw () |
RelativeCom (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask) | |
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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 RelativeComPtr_t | create (const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t reference, 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 RelativeComPtr_t | create (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask=boost::assign::list_of(true)(true)(true).convert_to_container< std::vector< bool > >()) |
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 relative position of the center of mass.
The value of the function is defined as the position of the center of mass in the reference frame of a joint.
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inlinevirtual |
hpp::constraints::RelativeCom::RelativeCom | ( | const DevicePtr_t & | robot, |
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | joint, | ||
const vector3_t | reference, | ||
std::vector< bool > | mask | ||
) |
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static |
Return a shared pointer to a new instance.
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static |
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protectedvirtual |
Compute value of error.
argument | configuration of the robot, |
result | error vector |
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protectedvirtual |