Specify a relative position constraint on the center of mass. More...
#include <hpp/gik/constraint/relative-com-constraint.hh>
Definition of the constraint | |
ChppGikRelativeComConstraint (CjrlDynamicRobot &inRobot, CjrlJoint *inJoint, double inX, double inY) | |
Constructor. More... | |
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 | ~ChppGikRelativeComConstraint () |
Destructor. More... | |
virtual const matrixNxP & | jacobian () |
Get the constraint jacobian. More... | |
Additional Inherited Members | |
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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 vectorN & | worldTarget () |
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 vectorN & | influencingDofs () |
Get the influencing dofs. More... | |
virtual const vectorN & | value () |
Get the constraint value. More... | |
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virtual | ~CjrlLinearConstraint () |
Specify a relative position constraint on the center of mass.
ChppGikRelativeComConstraint::ChppGikRelativeComConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint * | inJoint, | ||
double | inX, | ||
double | inY | ||
) |
Constructor.
inRobot | Robot |
inJoint | Joint in which the CoM position is computed |
inX | CoM target position |
inY | CoM target position |
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virtual |
Destructor.
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virtual |
Copy the object.
Reimplemented from ChppGikComConstraint.
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virtual |
Get the constraint Jacobian wrt internal configuration variables.
Reimplemented from ChppGikComConstraint.
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virtual |
Compute the value of the constraint.
Reimplemented from ChppGikComConstraint.
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virtual |
Get the constraint jacobian.
Reimplemented from ChppGikComConstraint.