Constraint on a line segment attached to a body to be aligned with a given point in the world frame. More...
#include <hpp/gik/constraint/gaze-constraint.hh>
Public Member Functions | |
Definition of the constraint | |
ChppGikGazeConstraint (CjrlHumanoidDynamicRobot &inRobot, const vector3d &inTargetWorldPoint) | |
brief Constructor More... | |
void | joint (CjrlJoint *) |
Set the joint associated to the constraint. More... | |
void | localOrigin (const vector3d &) |
Set the origin of the pointing vector. More... | |
void | localVector (const vector3d &) |
Set the pointing vector in joint's local frame. More... | |
~ChppGikGazeConstraint () | |
Destructor. More... | |
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ChppGikPointingConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalOrigin, const vector3d &inLocalVector, const vector3d &inTargetWorldPoint) | |
Constructor. More... | |
virtual CjrlGikStateConstraint * | clone () const |
Copy. More... | |
const vector3d & | localOrigin () |
Get the origin of the pointing vector. More... | |
const vector3d & | localVector () |
Set the pointing vector in joint's local frame. More... | |
void | worldTarget (const vector3d &inPoint) |
Set the target point associated to the constraint (in world's frame). More... | |
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... | |
void | computeValue () |
Compute the value of the constraint. More... | |
void | computeJacobian () |
Get the constraint Jacobian wrt internal configuration variables. More... | |
virtual | ~ChppGikPointingConstraint () |
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 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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vector3d | attLocalOriginVector3 |
vector3d | attLocalVectorVector3 |
vector3d | attWorldTargetVector3 |
vectorN | attLocalOrigin |
vectorN | attLocalVector |
vectorN | attWorldTarget |
matrixNxP | tempRot |
matrixNxP | matOP |
matrixNxP | matOT |
matrixNxP | matFO |
matrixNxP | rotF |
matrixNxP | jointrot |
vectorN | jointpos |
vectorN | posO |
vectorN | posF |
vectorN | posP |
vectorN | vecFO |
vectorN | vecOP |
vectorN | vecOT |
matrixNxP | tempJacobian |
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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... | |
Constraint on a line segment attached to a body to be aligned with a given point in the world frame.
The line segment is defined by an origin point and a vector both given in the body's local frame.
ChppGikGazeConstraint::ChppGikGazeConstraint | ( | CjrlHumanoidDynamicRobot & | inRobot, |
const vector3d & | inTargetWorldPoint | ||
) |
brief Constructor
ChppGikGazeConstraint::~ChppGikGazeConstraint | ( | ) |
Destructor.
Referenced by localVector().
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inlinevirtual |
Set the joint associated to the constraint.
Reimplemented from CjrlGikGazeConstraint.
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inlinevirtual |
Set the origin of the pointing vector.
Reimplemented from CjrlGikGazeConstraint.
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inlinevirtual |
Set the pointing vector in joint's local frame.
Reimplemented from CjrlGikGazeConstraint.
References ~ChppGikGazeConstraint().