#include <hpp/gik/constraint/vectorizable-constraint.hh>
Public Member Functions | |
virtual void | computeVectorizedState ()=0 |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. More... | |
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 void | computeVectorizedTarget ()=0 |
Compute the target of the constraint as a vectorN. More... | |
virtual bool | vectorizedTarget (const vectorN &inTarget)=0 |
Set the target of the constraint with a vectorN. More... | |
virtual const vectorN & | vectorizedTarget () const |
Get the target of the constraint expressed as a vectorN. More... | |
virtual | ~ChppGikVectorizableConstraint () |
Destructor. More... | |
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virtual CjrlGikStateConstraint * | clone () const=0 |
virtual CjrlDynamicRobot & | robot ()=0 |
virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
virtual vectorN & | influencingDofs ()=0 |
virtual void | computeInfluencingDofs ()=0 |
virtual void | computeValue ()=0 |
virtual void | computeJacobian ()=0 |
virtual CjrlDynamicRobot & | robot ()=0 |
virtual void | jacobianRoot (CjrlJoint &inJoint)=0 |
virtual vectorN & | influencingDofs ()=0 |
virtual void | computeInfluencingDofs ()=0 |
virtual void | computeValue ()=0 |
virtual void | computeJacobian ()=0 |
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virtual unsigned int | dimension () const=0 |
virtual const vectorN & | value ()=0 |
virtual const matrixNxP & | jacobian ()=0 |
virtual | ~CjrlLinearConstraint () |
Protected Attributes | |
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... | |
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inlinevirtual |
Destructor.
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pure virtual |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.
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pure virtual |
Compute the target of the constraint as a vectorN.
Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.
Referenced by vectorizedState().
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inlinevirtual |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
References attVectorizedState, computeVectorizedTarget(), and vectorizedTarget().
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pure virtual |
Set the target of the constraint with a vectorN.
Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.
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inlinevirtual |
Get the target of the constraint expressed as a vectorN.
References attVectorizedTarget.
Referenced by vectorizedState().
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protected |
The vectorial expression of the constraint's full sdtate at the moment of computation.
Referenced by vectorizedState().
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protected |
The vectorial expression of the constraint's target at the moment of computation.
Referenced by vectorizedTarget().