ChppGikJointStateConstraint Class Reference

Implementation of some commom functions in CjrlGikJointStateConstraint. More...

#include <hpp/gik/constraint/joint-state-constraint.hh>

Inheritance diagram for ChppGikJointStateConstraint:
Collaboration diagram for ChppGikJointStateConstraint:

Public Member Functions

 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 vectorNvalue ()
 Get the constraint value. More...
 
virtual const matrixNxPjacobian ()
 Get the constraint jacobian. More...
 
virtual vectorNinfluencingDofs ()
 Get the influencing dofs. More...
 
virtual void jacobianRoot (CjrlJoint &inJoint)
 inherited. More...
 
- Public Member Functions inherited from CjrlGikStateConstraint
virtual CjrlGikStateConstraintclone () const=0
 
virtual void computeValue ()=0
 
virtual void computeJacobian ()=0
 
virtual void computeValue ()=0
 
virtual void computeJacobian ()=0
 
- Public Member Functions inherited from CjrlLinearConstraint
virtual ~CjrlLinearConstraint ()
 

Protected Attributes

vectorN attValue
 
matrixNxP attJacobian
 
vectorN attInfluencingDofs
 
CjrlJoint * attRootJoint
 

Detailed Description

Implementation of some commom functions in CjrlGikJointStateConstraint.

Constructor & Destructor Documentation

◆ ChppGikJointStateConstraint()

ChppGikJointStateConstraint::ChppGikJointStateConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
unsigned int  inDimension 
)

Constructor.

Parameters
inRobotReference to the robot the constraint is associated to.
inJointReference to the joint the constraint is associated to.
inDimensionof the constraint.

Member Function Documentation

◆ computeInfluencingDofs()

virtual void ChppGikJointStateConstraint::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.

Referenced by joint().

◆ dimension()

virtual unsigned int ChppGikJointStateConstraint::dimension ( ) const
virtual

Get the dimension of the constraint.

Implements CjrlLinearConstraint.

◆ influencingDofs()

virtual vectorN& ChppGikJointStateConstraint::influencingDofs ( )
virtual

Get the influencing dofs.

Implements CjrlGikStateConstraint.

Referenced by joint().

◆ jacobian()

virtual const matrixNxP& ChppGikJointStateConstraint::jacobian ( )
virtual

Get the constraint jacobian.

Implements CjrlLinearConstraint.

Referenced by joint().

◆ jacobianRoot()

virtual void ChppGikJointStateConstraint::jacobianRoot ( CjrlJoint &  inJoint)
virtual

inherited.

Will trigger computeInfluencingDofs() when the joint changes

Implements CjrlGikStateConstraint.

Referenced by joint().

◆ joint() [1/2]

virtual void ChppGikJointStateConstraint::joint ( CjrlJoint *  inJoint)
virtual

Set the joint associated to the constraint.

Will trigger computeInfluencingDofs() when the joint changes

Implements CjrlGikJointStateConstraint.

Reimplemented in ChppGikGazeConstraint.

◆ joint() [2/2]

virtual CjrlJoint* ChppGikJointStateConstraint::joint ( )
inlinevirtual

Get the joint associated to the constraint.

Implements CjrlGikJointStateConstraint.

References computeInfluencingDofs(), influencingDofs(), jacobian(), jacobianRoot(), and value().

Referenced by robot().

◆ robot()

virtual CjrlDynamicRobot& ChppGikJointStateConstraint::robot ( )
inlinevirtual

Get robot associated to the constraint.

Implements CjrlGikStateConstraint.

References joint().

◆ value()

virtual const vectorN& ChppGikJointStateConstraint::value ( )
virtual

Get the constraint value.

Implements CjrlLinearConstraint.

Referenced by joint().

Member Data Documentation

◆ attInfluencingDofs

vectorN ChppGikJointStateConstraint::attInfluencingDofs
protected

◆ attJacobian

matrixNxP ChppGikJointStateConstraint::attJacobian
protected

◆ attRootJoint

CjrlJoint* ChppGikJointStateConstraint::attRootJoint
protected

◆ attValue

vectorN ChppGikJointStateConstraint::attValue
protected