ChppGikConfigurationConstraint Class Reference

Specify a full or partial configuration constraint. More...

#include <hpp/gik/constraint/configuration-constraint.hh>

Inheritance diagram for ChppGikConfigurationConstraint:
Collaboration diagram for ChppGikConfigurationConstraint:

Public Member Functions

 ChppGikConfigurationConstraint (CjrlDynamicRobot &inRobot, const vectorN &inTargetConfig, const vectorN &inMask)
 Constructor. More...
 
 ~ChppGikConfigurationConstraint ()
 Destructor. More...
 
virtual CjrlGikStateConstraintclone () const
 Copy. More...
 
bool target (const vectorN &inTargetConfig)
 set target More...
 
virtual CjrlDynamicRobot & robot ()
 Get associated robot. More...
 
virtual unsigned int dimension () const
 Get the dimension of the constraint. More...
 
void jacobianRoot (CjrlJoint &inJoint)
 no ionfluence More...
 
virtual void computeInfluencingDofs ()
 Compute a binary vector whose size matches the robot cnfiguration's, where an element with value 1 indicates that the corresponding degree of freedom can modify the value of this constraint, and an element with value 0 cannot. More...
 
virtual vectorNinfluencingDofs ()
 Get the influencing dofs. More...
 
virtual void computeValue ()
 Compute the value of the constraint. More...
 
virtual void computeJacobian ()
 Compute the Jacobian matrix of the constraint value wrt internal configuration variables. More...
 
virtual const vectorNvalue ()
 Get the constraint value. More...
 
virtual const matrixNxPjacobian ()
 Get the constraint Jacobian wrt internal configuration variables. More...
 
virtual void computeVectorizedState ()
 Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. More...
 
virtual void computeVectorizedTarget ()
 Compute the target of the constraint as a vectorN. More...
 
virtual bool vectorizedTarget (const vectorN &inTarget)
 A unified method to change the target of the constraint with a vectorN. More...
 
- Public Member Functions inherited from ChppGikVectorizableConstraint
virtual const vectorNvectorizedState () const
 Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. More...
 
virtual const vectorNvectorizedTarget () const
 Get the target of the constraint expressed as a vectorN. More...
 
virtual ~ChppGikVectorizableConstraint ()
 Destructor. More...
 
- Public Member Functions inherited from CjrlLinearConstraint
virtual ~CjrlLinearConstraint ()
 

Additional Inherited Members

- Protected Attributes inherited from ChppGikVectorizableConstraint
vectorN attVectorizedTarget
 The vectorial expression of the constraint's target at the moment of computation. More...
 
vectorN attVectorizedState
 The vectorial expression of the constraint's full sdtate at the moment of computation. More...
 

Detailed Description

Specify a full or partial configuration constraint.

Constructor & Destructor Documentation

◆ ChppGikConfigurationConstraint()

ChppGikConfigurationConstraint::ChppGikConfigurationConstraint ( CjrlDynamicRobot &  inRobot,
const vectorN inTargetConfig,
const vectorN inMask 
)

Constructor.

inTargetConfig is of size inRobot.numberDof() and inMask of size inRobot.numberDof() (i.e. excluding free flyer's dofs)

◆ ~ChppGikConfigurationConstraint()

ChppGikConfigurationConstraint::~ChppGikConfigurationConstraint ( )

Destructor.

Member Function Documentation

◆ clone()

virtual CjrlGikStateConstraint* ChppGikConfigurationConstraint::clone ( ) const
virtual

Copy.

Implements CjrlGikStateConstraint.

◆ computeInfluencingDofs()

virtual void ChppGikConfigurationConstraint::computeInfluencingDofs ( )
virtual

Compute a binary vector whose size matches the robot cnfiguration's, where an element with value 1 indicates that the corresponding degree of freedom can modify the value of this constraint, and an element with value 0 cannot.

Implements CjrlGikStateConstraint.

◆ computeJacobian()

virtual void ChppGikConfigurationConstraint::computeJacobian ( )
virtual

Compute the Jacobian matrix of the constraint value wrt internal configuration variables.

The interaction with the environment is taken into account (for instance a foot on the ground).

Implements CjrlGikStateConstraint.

◆ computeValue()

virtual void ChppGikConfigurationConstraint::computeValue ( )
virtual

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

◆ computeVectorizedState()

virtual void ChppGikConfigurationConstraint::computeVectorizedState ( )
virtual

Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.

Implements ChppGikVectorizableConstraint.

◆ computeVectorizedTarget()

virtual void ChppGikConfigurationConstraint::computeVectorizedTarget ( )
virtual

Compute the target of the constraint as a vectorN.

Implements ChppGikVectorizableConstraint.

◆ dimension()

virtual unsigned int ChppGikConfigurationConstraint::dimension ( ) const
virtual

Get the dimension of the constraint.

Implements CjrlLinearConstraint.

◆ influencingDofs()

virtual vectorN& ChppGikConfigurationConstraint::influencingDofs ( )
virtual

Get the influencing dofs.

Implements CjrlGikStateConstraint.

◆ jacobian()

virtual const matrixNxP& ChppGikConfigurationConstraint::jacobian ( )
virtual

Get the constraint Jacobian wrt internal configuration variables.

The interaction with the environment is taken into account (for instance a foot on the ground)

Implements CjrlLinearConstraint.

◆ jacobianRoot()

void ChppGikConfigurationConstraint::jacobianRoot ( CjrlJoint &  inJoint)
virtual

no ionfluence

Implements CjrlGikStateConstraint.

◆ robot()

virtual CjrlDynamicRobot& ChppGikConfigurationConstraint::robot ( )
virtual

Get associated robot.

Implements CjrlGikStateConstraint.

◆ target()

bool ChppGikConfigurationConstraint::target ( const vectorN inTargetConfig)

set target

Returns
false if size of vector incorrect

◆ value()

virtual const vectorN& ChppGikConfigurationConstraint::value ( )
virtual

Get the constraint value.

Implements CjrlLinearConstraint.

◆ vectorizedTarget()

virtual bool ChppGikConfigurationConstraint::vectorizedTarget ( const vectorN inTarget)
virtual

A unified method to change the target of the constraint with a vectorN.

Returns
false if the argument's size does not match the one expected for this constraint type

Implements ChppGikVectorizableConstraint.