Specify a 3D position constraint on a point of the robot. More...
#include <hpp/gik/constraint/position-constraint.hh>
Public Member Functions | |
ChppGikPositionConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inPointInWorldFrame) | |
Constructor. More... | |
virtual CjrlGikStateConstraint * | clone () const |
Copy the object. More... | |
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 | 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 void | computeValue () |
Compute the value of the constraint. More... | |
virtual void | computeJacobian () |
Get the constraint Jacobian wrt internal configuration variables. More... | |
virtual | ~ChppGikPositionConstraint () |
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 3D position constraint on a point of the robot.
ChppGikPositionConstraint::ChppGikPositionConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
const vector3d & | inPointInBodyLocalFrame, | ||
const vector3d & | inPointInWorldFrame | ||
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Constructor.
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inlinevirtual |
Destructor.
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virtual |
Copy the object.
Implements CjrlGikStateConstraint.
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virtual |
Get the constraint Jacobian wrt internal configuration variables.
This method supposes that: the robot has at least one fixed joint. the jacobian for this fixed joint has been computed for the current configuration
Only the first fixed joint of the robot affects the computation of the jacobian. (closed kinematic chains are not handeled)
Implements CjrlGikStateConstraint.
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virtual |
Compute the value of the constraint.
Implements CjrlGikStateConstraint.
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virtual |
Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implements ChppGikVectorizableConstraint.
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virtual |
Compute the target of the constraint as a vectorN.
Implements ChppGikVectorizableConstraint.
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virtual |
Set the point (in joint's local frame) associated to the constraint.
Implements CjrlGikPositionConstraint.
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virtual |
Get the point associated to the constraint (in joint's local frame).
Implements CjrlGikPositionConstraint.
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virtual |
A unified method to change the target of the constraint with a vectorN.
Implements ChppGikVectorizableConstraint.
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virtual |
Set the target point associated to the constraint (in world's frame).
Implements CjrlGikPositionConstraint.
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virtual |
Get the target point associated to the constraint (in world's frame).
Implements CjrlGikPositionConstraint.