Specify a full or partial configuration constraint. More...
#include <hpp/gik/constraint/configuration-constraint.hh>
Public Member Functions | |
ChppGikConfigurationConstraint (CjrlDynamicRobot &inRobot, const vectorN &inTargetConfig, const vectorN &inMask) | |
Constructor. More... | |
~ChppGikConfigurationConstraint () | |
Destructor. More... | |
virtual CjrlGikStateConstraint * | clone () const |
Copy. More... | |
bool | target (const vectorN &inTargetConfig) |
set target More... | |
virtual CjrlDynamicRobot & | robot () |
Get associated robot. More... | |
virtual unsigned int | dimension () const |
Get the dimension of the constraint. More... | |
void | jacobianRoot (CjrlJoint &inJoint) |
no ionfluence 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 void | computeValue () |
Compute the value of the constraint. More... | |
virtual void | computeJacobian () |
Compute the Jacobian matrix of the constraint value wrt internal configuration variables. More... | |
virtual const vectorN & | value () |
Get the constraint value. More... | |
virtual const matrixNxP & | jacobian () |
Get the constraint Jacobian wrt internal configuration variables. 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... | |
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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... | |
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virtual | ~CjrlLinearConstraint () |
Additional Inherited Members | |
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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 full or partial configuration constraint.
ChppGikConfigurationConstraint::ChppGikConfigurationConstraint | ( | CjrlDynamicRobot & | inRobot, |
const vectorN & | inTargetConfig, | ||
const vectorN & | inMask | ||
) |
Constructor.
inTargetConfig is of size inRobot.numberDof() and inMask of size inRobot.numberDof() (i.e. excluding free flyer's dofs)
ChppGikConfigurationConstraint::~ChppGikConfigurationConstraint | ( | ) |
Destructor.
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virtual |
Copy.
Implements CjrlGikStateConstraint.
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virtual |
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.
Implements CjrlGikStateConstraint.
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virtual |
Compute the Jacobian matrix of the constraint value wrt internal configuration variables.
The interaction with the environment is taken into account (for instance a foot on the ground).
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 |
Get the dimension of the constraint.
Implements CjrlLinearConstraint.
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virtual |
Get the influencing dofs.
Implements CjrlGikStateConstraint.
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virtual |
Get the constraint Jacobian wrt internal configuration variables.
The interaction with the environment is taken into account (for instance a foot on the ground)
Implements CjrlLinearConstraint.
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virtual |
no ionfluence
Implements CjrlGikStateConstraint.
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virtual |
Get associated robot.
Implements CjrlGikStateConstraint.
bool ChppGikConfigurationConstraint::target | ( | const vectorN & | inTargetConfig | ) |
set target
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virtual |
Get the constraint value.
Implements CjrlLinearConstraint.
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virtual |
A unified method to change the target of the constraint with a vectorN.
Implements ChppGikVectorizableConstraint.