ChppGikRelativeTransformationConstraint Class Reference

Specify a transformation constraint on a joint of the robot, relatively to another joint. More...

#include <hpp/gik/constraint/relative-transformation-constraint.hh>

Inheritance diagram for ChppGikRelativeTransformationConstraint:
Collaboration diagram for ChppGikRelativeTransformationConstraint:

Public Member Functions

 ChppGikRelativeTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, CjrlJoint *inRootJoint, const matrix4d &inRelativeTransformation)
 Constructor. More...
 
virtual CjrlGikStateConstraintclone () 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 ~ChppGikRelativeTransformationConstraint ()
 Destructor. More...
 
- Public Member Functions inherited from ChppGikTransformationConstraint
 ChppGikTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const vector3d &inPointInWorldFrame, const matrix3d &inOrientation)
 Constructor. More...
 
 ChppGikTransformationConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inPointInBodyLocalFrame, const matrix4d &inTransformation)
 
virtual void localPoint (const vector3d &inPoint)
 Set the point (in joint's local frame) associated to the constraint. More...
 
virtual const vector3dlocalPoint ()
 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 vector3dworldTarget ()
 Get the target point associated to the constraint (in world's frame). More...
 
virtual void targetOrientation (const matrix3d &inRot)
 Set the target orientation for this constraint. More...
 
virtual const matrix3dtargetOrientation ()
 Get the point associated to the constraint (in joint's local frame). More...
 
virtual void targetTransformation (const matrix4d &inTransform)
 Set the target transformation for this constraint. More...
 
virtual const matrix4dtargetTransformation ()
 Get the target transformation. 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 ~ChppGikTransformationConstraint ()
 Destructor. More...
 
- Public Member Functions inherited from CjrlLinearConstraint
virtual ~CjrlLinearConstraint ()
 
- Public Member Functions inherited from ChppGikJointStateConstraint
 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 ChppGikVectorizableConstraint
virtual const vectorNvectorizedState () const
 Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. More...
 
virtual const vectorNvectorizedTarget () const
 Get the target of the constraint expressed as a vectorN. More...
 
virtual ~ChppGikVectorizableConstraint ()
 Destructor. More...
 

Additional Inherited Members

- Protected Attributes inherited from ChppGikJointStateConstraint
vectorN attValue
 
matrixNxP attJacobian
 
vectorN attInfluencingDofs
 
CjrlJoint * attRootJoint
 
- Protected Attributes inherited from ChppGikVectorizableConstraint
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...
 

Detailed Description

Specify a transformation constraint on a joint of the robot, relatively to another joint.

Constructor & Destructor Documentation

◆ ChppGikRelativeTransformationConstraint()

ChppGikRelativeTransformationConstraint::ChppGikRelativeTransformationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
CjrlJoint *  inRootJoint,
const matrix4d inRelativeTransformation 
)

Constructor.

◆ ~ChppGikRelativeTransformationConstraint()

virtual ChppGikRelativeTransformationConstraint::~ChppGikRelativeTransformationConstraint ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ clone()

virtual CjrlGikStateConstraint* ChppGikRelativeTransformationConstraint::clone ( ) const
virtual

Copy the object.

Reimplemented from ChppGikTransformationConstraint.

◆ computeJacobian()

virtual void ChppGikRelativeTransformationConstraint::computeJacobian ( )
virtual

Get the constraint Jacobian wrt internal configuration variables.

Reimplemented from ChppGikTransformationConstraint.

◆ computeValue()

virtual void ChppGikRelativeTransformationConstraint::computeValue ( )
virtual

Compute the value of the constraint.

Reimplemented from ChppGikTransformationConstraint.