ChppGikGazeConstraint Class Reference

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>

Inheritance diagram for ChppGikGazeConstraint:
Collaboration diagram for ChppGikGazeConstraint:

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...
 
- Public Member Functions inherited from ChppGikPointingConstraint
 ChppGikPointingConstraint (CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalOrigin, const vector3d &inLocalVector, const vector3d &inTargetWorldPoint)
 Constructor. More...
 
virtual CjrlGikStateConstraintclone () const
 Copy. More...
 
const vector3dlocalOrigin ()
 Get the origin of the pointing vector. More...
 
const vector3dlocalVector ()
 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 vector3dworldTarget ()
 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...
 
- 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 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 ChppGikPointingConstraint
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
 
- 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

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.

Constructor & Destructor Documentation

◆ ChppGikGazeConstraint()

ChppGikGazeConstraint::ChppGikGazeConstraint ( CjrlHumanoidDynamicRobot &  inRobot,
const vector3d inTargetWorldPoint 
)

brief Constructor

◆ ~ChppGikGazeConstraint()

ChppGikGazeConstraint::~ChppGikGazeConstraint ( )

Destructor.

Referenced by localVector().

Member Function Documentation

◆ joint()

void ChppGikGazeConstraint::joint ( CjrlJoint *  )
inlinevirtual

Set the joint associated to the constraint.

Note
Does nothing since not applicable for this class.

Reimplemented from CjrlGikGazeConstraint.

◆ localOrigin()

void ChppGikGazeConstraint::localOrigin ( const vector3d )
inlinevirtual

Set the origin of the pointing vector.

Note
Does nothing since not applicable for this class.

Reimplemented from CjrlGikGazeConstraint.

◆ localVector()

void ChppGikGazeConstraint::localVector ( const vector3d )
inlinevirtual

Set the pointing vector in joint's local frame.

Note
Does nothing since not applicable for this class.

Reimplemented from CjrlGikGazeConstraint.

References ~ChppGikGazeConstraint().