ChppGikRelativeComConstraint Class Reference

Specify a relative position constraint on the center of mass. More...

#include <hpp/gik/constraint/relative-com-constraint.hh>

Inheritance diagram for ChppGikRelativeComConstraint:
Collaboration diagram for ChppGikRelativeComConstraint:

Definition of the constraint

 ChppGikRelativeComConstraint (CjrlDynamicRobot &inRobot, CjrlJoint *inJoint, double inX, double inY)
 Constructor. More...
 
CjrlGikStateConstraintclone () const
 Copy the object. More...
 
virtual void computeValue ()
 Compute the value of the constraint. More...
 
virtual void computeJacobian ()
 Get the constraint Jacobian wrt internal configuration variables. More...
 
virtual ~ChppGikRelativeComConstraint ()
 Destructor. More...
 
virtual const matrixNxPjacobian ()
 Get the constraint jacobian. More...
 

Additional Inherited Members

- Public Member Functions inherited from ChppGikComConstraint
virtual ~ChppGikComConstraint ()
 Destructor. More...
 
void jacobianRoot (CjrlJoint &inJoint)
 Set the jacobian root. More...
 
 ChppGikComConstraint (CjrlDynamicRobot &inRobot, double inX, double inY)
 Constructor. More...
 
virtual unsigned int dimension () const
 Get the dimension of the constraint. More...
 
virtual CjrlDynamicRobot & robot ()
 Get robot associated to the constraint. More...
 
virtual void targetXY (double inX, double inY)
 Set a constraint on Xcom and Ycom (in world's frame). More...
 
virtual void targetXYZ (const vectorN &inTarget)
 Set constraint on x,y,z of com (in world's frame). More...
 
virtual const vectorNworldTarget ()
 Get the target point associated to the constraint (in world's frame). 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 const vectorNvalue ()
 Get the constraint value. More...
 
- Public Member Functions inherited from CjrlLinearConstraint
virtual ~CjrlLinearConstraint ()
 

Detailed Description

Specify a relative position constraint on the center of mass.

Constructor & Destructor Documentation

◆ ChppGikRelativeComConstraint()

ChppGikRelativeComConstraint::ChppGikRelativeComConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint *  inJoint,
double  inX,
double  inY 
)

Constructor.

Parameters
inRobotRobot
inJointJoint in which the CoM position is computed
inXCoM target position
inYCoM target position

◆ ~ChppGikRelativeComConstraint()

virtual ChppGikRelativeComConstraint::~ChppGikRelativeComConstraint ( )
virtual

Destructor.

Member Function Documentation

◆ clone()

CjrlGikStateConstraint* ChppGikRelativeComConstraint::clone ( ) const
virtual

Copy the object.

Reimplemented from ChppGikComConstraint.

◆ computeJacobian()

virtual void ChppGikRelativeComConstraint::computeJacobian ( )
virtual

Get the constraint Jacobian wrt internal configuration variables.

Reimplemented from ChppGikComConstraint.

◆ computeValue()

virtual void ChppGikRelativeComConstraint::computeValue ( )
virtual

Compute the value of the constraint.

Reimplemented from ChppGikComConstraint.

◆ jacobian()

virtual const matrixNxP& ChppGikRelativeComConstraint::jacobian ( )
virtual

Get the constraint jacobian.

Reimplemented from ChppGikComConstraint.