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/pointing-constraint.hh>
Public Member Functions | |
ChppGikPointingConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalOrigin, const vector3d &inLocalVector, const vector3d &inTargetWorldPoint) | |
Constructor. More... | |
virtual CjrlGikStateConstraint * | clone () const |
Copy. More... | |
virtual void | localOrigin (const vector3d &inPoint) |
Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint). More... | |
const vector3d & | localOrigin () |
Get the origin of the pointing vector. More... | |
virtual void | localVector (const vector3d &inPoint) |
Set the pointing vector in joint's local frame (illelgal operation for gaze constraint). 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 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... | |
Protected Attributes | |
vector3d | attLocalOriginVector3 |
vector3d | attLocalVectorVector3 |
vector3d | attWorldTargetVector3 |
vectorN | attLocalOrigin |
vectorN | attLocalVector |
vectorN | attWorldTarget |
Computation temporary variables (to avoid dynamic allocation) | |
{@ | |
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.
ChppGikPointingConstraint::ChppGikPointingConstraint | ( | CjrlDynamicRobot & | inRobot, |
CjrlJoint & | inJoint, | ||
const vector3d & | inLocalOrigin, | ||
const vector3d & | inLocalVector, | ||
const vector3d & | inTargetWorldPoint | ||
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Constructor.
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Destructor.
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Copy.
Implements CjrlGikStateConstraint.
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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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Compute the value of the constraint.
Implements CjrlGikStateConstraint.
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Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.
Implements ChppGikVectorizableConstraint.
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Compute the target of the constraint as a vectorN.
Implements ChppGikVectorizableConstraint.
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Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint).
Implements CjrlGikPointingConstraint.
Reimplemented in ChppGikGazeConstraint.
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Get the origin of the pointing vector.
Implements CjrlGikPointingConstraint.
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Set the pointing vector in joint's local frame (illelgal operation for gaze constraint).
Implements CjrlGikPointingConstraint.
Reimplemented in ChppGikGazeConstraint.
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Set the pointing vector in joint's local frame.
Implements CjrlGikPointingConstraint.
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A unified method to change the target of the constraint with a vectorN.
Implements ChppGikVectorizableConstraint.
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Set the target point associated to the constraint (in world's frame).
Implements CjrlGikPointingConstraint.
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Get the target point associated to the constraint (in world's frame).
Implements CjrlGikPointingConstraint.
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