Specify a transformation constraint on a joint of the robot, relatively to another joint. More...
#include <hpp/gik/constraint/relative-transformation-constraint.hh>
Public Member Functions | |
ChppGikRelativeTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, CjrlJoint *inRootJoint, const matrix4d &inRelativeTransformation) | |
Constructor. More... | |
virtual CjrlGikStateConstraint * | clone () 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 | ~ChppGikRelativeTransformationConstraint () |
Destructor. More... | |
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ChppGikTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inPointInWorldFrame, const matrix3d &inOrientation) | |
Constructor. More... | |
ChppGikTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const matrix4d &inTransformation) | |
virtual void | localPoint (const vector3d &inPoint) |
Set the point (in joint's local frame) associated to the constraint. More... | |
virtual const vector3d & | localPoint () |
Get the point associated to the constraint (in joint's local frame). More... | |
virtual void | worldTarget (const vector3d &inPoint) |
Set the target point associated to the constraint (in world's frame). More... | |
virtual const vector3d & | worldTarget () |
Get the target point associated to the constraint (in world's frame). More... | |
virtual void | targetOrientation (const matrix3d &inRot) |
Set the target orientation for this constraint. More... | |
virtual const matrix3d & | targetOrientation () |
Get the point associated to the constraint (in joint's local frame). More... | |
virtual void | targetTransformation (const matrix4d &inTransform) |
Set the target transformation for this constraint. More... | |
virtual const matrix4d & | targetTransformation () |
Get the target transformation. 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... | |
virtual | ~ChppGikTransformationConstraint () |
Destructor. More... | |
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virtual | ~CjrlLinearConstraint () |
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ChppGikJointStateConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, unsigned int inDimension) | |
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 | joint (CjrlJoint *inJoint) |
Set the joint associated to the constraint. More... | |
virtual CjrlJoint * | joint () |
Get the joint associated to the constraint. 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 const vectorN & | value () |
Get the constraint value. More... | |
virtual const matrixNxP & | jacobian () |
Get the constraint jacobian. More... | |
virtual vectorN & | influencingDofs () |
Get the influencing dofs. More... | |
virtual void | jacobianRoot (CjrlJoint &inJoint) |
inherited. More... | |
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virtual const vectorN & | vectorizedState () const |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. More... | |
virtual const vectorN & | vectorizedTarget () const |
Get the target of the constraint expressed as a vectorN. More... | |
virtual | ~ChppGikVectorizableConstraint () |
Destructor. More... | |
Additional Inherited Members | |
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vectorN | attValue |
matrixNxP | attJacobian |
vectorN | attInfluencingDofs |
CjrlJoint * | attRootJoint |
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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... | |
Specify a transformation constraint on a joint of the robot, relatively to another joint.
ChppGikRelativeTransformationConstraint::ChppGikRelativeTransformationConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
CjrlJoint * | inRootJoint, | ||
const matrix4d & | inRelativeTransformation | ||
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Constructor.
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inlinevirtual |
Destructor.
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virtual |
Copy the object.
Reimplemented from ChppGikTransformationConstraint.
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virtual |
Get the constraint Jacobian wrt internal configuration variables.
Reimplemented from ChppGikTransformationConstraint.
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virtual |
Compute the value of the constraint.
Reimplemented from ChppGikTransformationConstraint.