hpp-constraints  5.0.0
Definition of basic geometric constraints for motion planning
locked-joint.hh
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2 // Authors: Florent Lamiraux, Joseph Mirabel
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28 
29 #ifndef HPP_CONSTRAINTS_LOCKED_JOINT_HH
30 #define HPP_CONSTRAINTS_LOCKED_JOINT_HH
31 
33 #include <hpp/pinocchio/joint.hh>
34 
35 namespace hpp {
36 namespace constraints {
37 
40 
67  public:
69  virtual ImplicitPtr_t copy() const;
70 
74  static LockedJointPtr_t create(const JointPtr_t& joint,
75  const LiegroupElement& value);
76 
83  static LockedJointPtr_t create(const JointPtr_t& joint, const size_type index,
84  vectorIn_t value);
85 
91  static LockedJointPtr_t create(const DevicePtr_t& dev, const size_type index,
92  vectorIn_t value);
93 
96  static LockedJointPtr_t createCopy(LockedJointConstPtr_t other);
97 
99  size_type rankInConfiguration() const;
100 
102  size_type rankInVelocity() const;
103 
105  size_type configSize() const;
106 
108  size_type numberDof() const;
109 
111  const LiegroupSpacePtr_t& configSpace() const;
112 
114  vectorIn_t value() const;
115 
117  void value(vectorIn_t value);
118 
120  const JointPtr_t& joint() { return joint_; }
122  const std::string& jointName() const { return jointName_; }
124  std::ostream& print(std::ostream& os) const;
125 
134  virtual std::pair<JointConstPtr_t, JointConstPtr_t>
135  doesConstrainRelPoseBetween(DeviceConstPtr_t robot) const;
136 
137  protected:
141  LockedJoint(const JointPtr_t& joint, const LiegroupElement& value);
148  LockedJoint(const JointPtr_t& joint, const size_type index, vectorIn_t value);
154  LockedJoint(const DevicePtr_t& robot, const size_type index,
155  vectorIn_t value);
157  LockedJoint(const LockedJoint& other);
161  virtual bool isEqual(const Implicit& other, bool swapAndTest) const;
162 
163  void init(const LockedJointPtr_t& self);
164 
165  private:
166  std::string jointName_;
167  JointPtr_t joint_;
168  LiegroupSpacePtr_t configSpace_;
170  LockedJointWkPtr_t weak_;
171 
172  LockedJoint() {}
173  HPP_SERIALIZABLE();
174 }; // class LockedJoint
175 
177 inline std::ostream& operator<<(std::ostream& os, const LockedJoint& lj) {
178  return lj.print(os);
179 }
180 } // namespace constraints
181 } // namespace hpp
182 
183 BOOST_CLASS_EXPORT_KEY(hpp::constraints::LockedJoint)
184 #endif // HPP_CONSTRAINTS_LOCKED_JOINT_HH
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:69
Definition: locked-joint.hh:66
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
Definition: explicit.hh:132
std::ostream & print(std::ostream &os) const
Print object in a stream.
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
const JointPtr_t & joint()
Return shared pointer to joint.
Definition: locked-joint.hh:120
ComparisonTypes_t operator<<(const ComparisonType &a, const ComparisonType &b)
Definition: comparison-types.hh:61
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:88
pinocchio::size_type size_type
Definition: fwd.hh:47
const std::string & jointName() const
Return the joint name.
Definition: locked-joint.hh:122
pinocchio::DeviceConstPtr_t DeviceConstPtr_t
Definition: fwd.hh:110
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:206
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
Definition: implicit.hh:119
shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:205