hpp-constraints  4.10.1
Definition of basic geometric constraints for motion planning
hpp::constraints::explicit_::RelativePose Class Reference

Constraint of relative pose between two frames on a kinematic chain. More...

#include <hpp/constraints/explicit/relative-pose.hh>

Inheritance diagram for hpp::constraints::explicit_::RelativePose:
Collaboration diagram for hpp::constraints::explicit_::RelativePose:

Public Member Functions

virtual ImplicitPtr_t copy () const
 Copy object and return shared pointer to copy. More...
 
virtual void outputValue (LiegroupElementRef result, vectorIn_t qin, vectorIn_t rhs) const
 
virtual void jacobianOutputValue (vectorIn_t qin, LiegroupElementConstRef f_value, vectorIn_t rhs, matrixOut_t jacobian) const
 
- Public Member Functions inherited from hpp::constraints::Explicit
DifferentiableFunctionPtr_t explicitFunction () const
 
const segments_toutputConf () const
 Get output configuration variables. More...
 
const segments_toutputVelocity () const
 Get output degrees of freedom. More...
 
const segments_tinputConf () const
 Get input configuration variables. More...
 
const segments_tinputVelocity () const
 Get input degrees of freedom. More...
 
- Public Member Functions inherited from hpp::constraints::Implicit
bool operator== (const Implicit &other) const
 Operator equality. More...
 
virtual ~Implicit ()
 
DifferentiableFunctionfunction () const
 Return a reference to function \(h\). More...
 
const DifferentiableFunctionPtr_tfunctionPtr () const
 Return a reference to function \(h\). More...
 
void rightHandSideFromConfig (ConfigurationIn_t config)
 
void rightHandSide (vectorIn_t rhs)
 
vectorIn_t rightHandSide () const
 Return the right hand side of the equation. More...
 
size_type parameterSize () const
 
size_type rightHandSideSize () const
 
const ComparisonTypes_tcomparisonType () const
 Return the ComparisonType. More...
 
void comparisonType (const ComparisonTypes_t &comp)
 Set the comparison type. More...
 
vectorOut_t rightHandSide ()
 
void rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF)
 
const DifferentiableFunctionPtr_trightHandSideFunction () const
 
vectorIn_t rightHandSideAt (const value_type &s)
 

Static Public Member Functions

static RelativePosePtr_t create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3f &frame1, const Transform3f &frame2, ComparisonTypes_t comp)
 
static RelativePosePtr_t createCopy (const RelativePosePtr_t &other)
 
- Static Public Member Functions inherited from hpp::constraints::Explicit
static ExplicitPtr_t create (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t()) HPP_CONSTRAINTS_DEPRECATED
 
static ExplicitPtr_t create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t())
 
static ExplicitPtr_t createCopy (const ExplicitPtr_t &other)
 Create a copy and return shared pointer. More...
 
- Static Public Member Functions inherited from hpp::constraints::Implicit
static ImplicitPtr_t create (const DifferentiableFunctionPtr_t &function) HPP_CONSTRAINTS_DEPRECATED
 
static ImplicitPtr_t create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)
 
static ImplicitPtr_t create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)
 
static ImplicitPtr_t createCopy (const ImplicitPtr_t &other)
 Create a copy and return shared pointer. More...
 

Protected Member Functions

 RelativePose (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3f &frame1, const Transform3f &frame2, std::vector< bool > mask=std::vector< bool >(6, true), ComparisonTypes_t comp=ComparisonTypes_t())
 
 RelativePose (const RelativePose &other)
 Copy constructor. More...
 
void init (RelativePoseWkPtr_t weak)
 Store weak pointer to itself. More...
 
- Protected Member Functions inherited from hpp::constraints::Explicit
 Explicit (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp) HPP_CONSTRAINTS_DEPRECATED
 
 Explicit (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp)
 
 Explicit (const DifferentiableFunctionPtr_t &implicitFunction, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp)
 (const LiegroupSpacePtr_t&, const DifferentiableFunctionPtr_t&, const segments_t& inputConf, const segments_t& outputConf, const segments_t& inputVelocity, const segments_t&, const ComparisonTypes_t&); More...
 
 Explicit (const Explicit &other)
 Copy constructor. More...
 
void init (const ExplicitWkPtr_t &weak)
 
 Explicit ()
 
- Protected Member Functions inherited from hpp::constraints::Implicit
 Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)
 
 Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)
 
 Implicit (const Implicit &other)
 Copy constructor. More...
 
virtual bool isEqual (const Implicit &other, bool swapAndTest) const
 
void init (const ImplicitWkPtr_t &weak)
 
 Implicit ()
 

Additional Inherited Members

- Protected Attributes inherited from hpp::constraints::Explicit
DifferentiableFunctionPtr_t inputToOutput_
 
segments_t inputConf_
 
segments_t outputConf_
 
segments_t inputVelocity_
 
segments_t outputVelocity_
 

Detailed Description

Constraint of relative pose between two frames on a kinematic chain.

Constructor & Destructor Documentation

◆ RelativePose() [1/2]

hpp::constraints::explicit_::RelativePose::RelativePose ( const std::string &  name,
const DevicePtr_t robot,
const JointConstPtr_t joint1,
const JointConstPtr_t joint2,
const Transform3f frame1,
const Transform3f frame2,
std::vector< bool >  mask = std::vector< bool >(6, true),
ComparisonTypes_t  comp = ComparisonTypes_t() 
)
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,
frame1position of a fixed frame in joint 1,
frame2position of a fixed frame in joint 2,
maskvector of 6 boolean defining which coordinates of the error vector to take into account.
compvector of comparison types
Note
if joint1 is 0x0, joint 1 frame is considered to be the global frame.

◆ RelativePose() [2/2]

hpp::constraints::explicit_::RelativePose::RelativePose ( const RelativePose other)
protected

Copy constructor.

Member Function Documentation

◆ copy()

virtual ImplicitPtr_t hpp::constraints::explicit_::RelativePose::copy ( ) const
virtual

Copy object and return shared pointer to copy.

Reimplemented from hpp::constraints::Explicit.

◆ create()

static RelativePosePtr_t hpp::constraints::explicit_::RelativePose::create ( const std::string &  name,
const DevicePtr_t robot,
const JointConstPtr_t joint1,
const JointConstPtr_t joint2,
const Transform3f frame1,
const Transform3f frame2,
ComparisonTypes_t  comp 
)
static

Create instance and return shared pointer

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,
frame1position of a fixed frame in joint 1,
frame2position of a fixed frame in joint 2,
maskvector of 6 boolean defining which coordinates of the error vector to take into account.
compvector of comparison types
Note
if joint1 is 0x0, joint 1 frame is considered to be the global frame.

◆ createCopy()

static RelativePosePtr_t hpp::constraints::explicit_::RelativePose::createCopy ( const RelativePosePtr_t other)
static

◆ init()

void hpp::constraints::explicit_::RelativePose::init ( RelativePoseWkPtr_t  weak)
protected

Store weak pointer to itself.

◆ jacobianOutputValue()

virtual void hpp::constraints::explicit_::RelativePose::jacobianOutputValue ( vectorIn_t  qin,
LiegroupElementConstRef  f_value,
vectorIn_t  rhs,
matrixOut_t  jacobian 
) const
virtual

Compute Jacobian of output value

\begin{eqnarray*} J &=& \frac{\partial}{\partial\mathbf{q}_{in}}\left( f(\mathbf{q}_{in}) + rhs\right). \end{eqnarray*}

Parameters
qinvector of input variables,
f_value\(f(\mathbf{q}_{in})\) to avoid recomputation,
rhsright hand side (of implicit formulation).

Reimplemented from hpp::constraints::Explicit.

◆ outputValue()

virtual void hpp::constraints::explicit_::RelativePose::outputValue ( LiegroupElementRef  result,
vectorIn_t  qin,
vectorIn_t  rhs 
) const
virtual

Compute the value of the output configuration variables

Parameters
qininput configuration variables,
rhsright hand side of constraint

\begin{equation} f \left(\mathbf{q}_{in}\right) + rhs_{expl} \end{equation}

where \(rhs_{expl}\) is the explicit right hand side converted using the following expression:

\begin{equation} rhs_{expl} = \log_{SE(3)}\left( F_{2/J_2}\exp_{\mathbf{R}^3\times SO(3)} (rhs_{impl}) F_{2/J_2}^{-1}\right) \end{equation}

Reimplemented from hpp::constraints::Explicit.


The documentation for this class was generated from the following file: