ChppGikTransformationConstraint Class Reference

Specify a 3D position constraint on a point of the robot. More...

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

Inheritance diagram for ChppGikTransformationConstraint:
Collaboration diagram for ChppGikTransformationConstraint:

Public Member Functions

 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 CjrlGikStateConstraintclone () const
 Copy the object. More...
 
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 void computeValue ()
 Compute the value of the constraint. More...
 
virtual void computeJacobian ()
 Get the constraint Jacobian wrt internal configuration variables. 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 3D position constraint on a point of the robot.

Constructor & Destructor Documentation

◆ ChppGikTransformationConstraint() [1/2]

ChppGikTransformationConstraint::ChppGikTransformationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d inPointInBodyLocalFrame,
const vector3d inPointInWorldFrame,
const matrix3d inOrientation 
)

Constructor.

◆ ChppGikTransformationConstraint() [2/2]

ChppGikTransformationConstraint::ChppGikTransformationConstraint ( CjrlDynamicRobot &  inRobot,
CjrlJoint &  inJoint,
const vector3d inPointInBodyLocalFrame,
const matrix4d inTransformation 
)

◆ ~ChppGikTransformationConstraint()

virtual ChppGikTransformationConstraint::~ChppGikTransformationConstraint ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ clone()

virtual CjrlGikStateConstraint* ChppGikTransformationConstraint::clone ( ) const
virtual

Copy the object.

Implements CjrlGikStateConstraint.

Reimplemented in ChppGikRelativeTransformationConstraint.

◆ computeJacobian()

virtual void ChppGikTransformationConstraint::computeJacobian ( )
virtual

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.

Reimplemented in ChppGikRelativeTransformationConstraint.

◆ computeValue()

virtual void ChppGikTransformationConstraint::computeValue ( )
virtual

Compute the value of the constraint.

Implements CjrlGikStateConstraint.

Reimplemented in ChppGikRelativeTransformationConstraint.

◆ computeVectorizedState()

virtual void ChppGikTransformationConstraint::computeVectorizedState ( )
virtual

Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN.

Implements ChppGikVectorizableConstraint.

◆ computeVectorizedTarget()

virtual void ChppGikTransformationConstraint::computeVectorizedTarget ( )
virtual

Compute the target of the constraint as a vectorN.

Implements ChppGikVectorizableConstraint.

◆ localPoint() [1/2]

virtual void ChppGikTransformationConstraint::localPoint ( const vector3d inPoint)
virtual

Set the point (in joint's local frame) associated to the constraint.

Implements CjrlGikTransformationConstraint.

◆ localPoint() [2/2]

virtual const vector3d& ChppGikTransformationConstraint::localPoint ( )
virtual

Get the point associated to the constraint (in joint's local frame).

Implements CjrlGikTransformationConstraint.

◆ targetOrientation() [1/2]

virtual void ChppGikTransformationConstraint::targetOrientation ( const matrix3d inRot)
virtual

Set the target orientation for this constraint.

Implements CjrlGikTransformationConstraint.

◆ targetOrientation() [2/2]

virtual const matrix3d& ChppGikTransformationConstraint::targetOrientation ( )
virtual

Get the point associated to the constraint (in joint's local frame).

Implements CjrlGikTransformationConstraint.

◆ targetTransformation() [1/2]

virtual void ChppGikTransformationConstraint::targetTransformation ( const matrix4d inTransform)
virtual

Set the target transformation for this constraint.

Implements CjrlGikTransformationConstraint.

◆ targetTransformation() [2/2]

virtual const matrix4d& ChppGikTransformationConstraint::targetTransformation ( )
virtual

Get the target transformation.

Implements CjrlGikTransformationConstraint.

◆ vectorizedTarget()

virtual bool ChppGikTransformationConstraint::vectorizedTarget ( const vectorN inTarget)
virtual

A unified method to change the target of the constraint with a vectorN.

Returns
false if the argument's size does not match the one expected for this constraint type

Implements ChppGikVectorizableConstraint.

◆ worldTarget() [1/2]

virtual void ChppGikTransformationConstraint::worldTarget ( const vector3d inPoint)
virtual

Set the target point associated to the constraint (in world's frame).

Implements CjrlGikTransformationConstraint.

◆ worldTarget() [2/2]

virtual const vector3d& ChppGikTransformationConstraint::worldTarget ( )
virtual

Get the target point associated to the constraint (in world's frame).

Implements CjrlGikTransformationConstraint.