ChppGikMotionPlanElement Class Reference

Use this to concatenate several CjrlGikStateConstraint objects. More...

#include <hpp/gik/core/motion-plan-element.hh>

Inheritance diagram for ChppGikMotionPlanElement:
Collaboration diagram for ChppGikMotionPlanElement:

Public Member Functions

 ChppGikMotionPlanElement (CjrlDynamicRobot *inRobot, unsigned int inPriority, double inDampingFactor=0.0)
 Constructor. More...
 
CjrlGikStateConstraintclone () const
 Copy. More...
 
CjrlDynamicRobot & robot ()
 Get associated robot. More...
 
unsigned int priority () const
 Get the priority. More...
 
void addConstraint (CjrlGikStateConstraint *inJrlStateConstraint)
 Add a constraint. More...
 
bool removeConstraint (const CjrlGikStateConstraint *inJrlStateConstraint)
 Remove a constraint. More...
 
void dampingFactor (double inDF)
 Set the damping factor. More...
 
double dampingFactor () const
 Get the damping factor. More...
 
unsigned int dimension () const
 Get the dimension of this motion plan element. More...
 
const vectorNworkingJoints () const
 Get a mask on the configuration vector denoting the working degrees of freedom. More...
 
void workingJoints (const vectorN &inVec)
 Set a mask on the configuration vector denoting the working degrees of freedom. More...
 
void clear ()
 Clear stored references to constraints. More...
 
void jacobianRoot (CjrlJoint &inJoint)
 
const std::vector< CjrlGikStateConstraint * > & constraints ()
 Get constraints included in this element. More...
 
 ~ChppGikMotionPlanElement ()
 
Computations
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...
 
void computeValue ()
 Compute the value of this motion plan element (task). More...
 
void computeJacobian ()
 Compute the Jacobian of this motion plan element (task) from robot's root taking into account contacts with the environement. More...
 
Getting result of computations
vectorNinfluencingDofs ()
 Get the influencing dofs. More...
 
const vectorNvalue ()
 Get the current value of this motion plan element (task). More...
 
const matrixNxPjacobian ()
 Get the current Jacobian. More...
 
- Public Member Functions inherited from CjrlLinearConstraint
virtual ~CjrlLinearConstraint ()
 

Detailed Description

Use this to concatenate several CjrlGikStateConstraint objects.

Constructor & Destructor Documentation

◆ ChppGikMotionPlanElement()

ChppGikMotionPlanElement::ChppGikMotionPlanElement ( CjrlDynamicRobot *  inRobot,
unsigned int  inPriority,
double  inDampingFactor = 0.0 
)

Constructor.

◆ ~ChppGikMotionPlanElement()

ChppGikMotionPlanElement::~ChppGikMotionPlanElement ( )

Referenced by constraints().

Member Function Documentation

◆ addConstraint()

void ChppGikMotionPlanElement::addConstraint ( CjrlGikStateConstraint inJrlStateConstraint)

Add a constraint.

◆ clear()

void ChppGikMotionPlanElement::clear ( )

Clear stored references to constraints.

◆ clone()

CjrlGikStateConstraint* ChppGikMotionPlanElement::clone ( ) const
virtual

Copy.

Implements CjrlGikStateConstraint.

◆ computeInfluencingDofs()

void ChppGikMotionPlanElement::computeInfluencingDofs ( )
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.

◆ computeJacobian()

void ChppGikMotionPlanElement::computeJacobian ( )
virtual

Compute the Jacobian of this motion plan element (task) from robot's root taking into account contacts with the environement.

Implements CjrlGikStateConstraint.

◆ computeValue()

void ChppGikMotionPlanElement::computeValue ( )
virtual

Compute the value of this motion plan element (task).

Implements CjrlGikStateConstraint.

◆ constraints()

const std::vector<CjrlGikStateConstraint*>& ChppGikMotionPlanElement::constraints ( )
inline

Get constraints included in this element.

References ~ChppGikMotionPlanElement().

◆ dampingFactor() [1/2]

void ChppGikMotionPlanElement::dampingFactor ( double  inDF)

Set the damping factor.

◆ dampingFactor() [2/2]

double ChppGikMotionPlanElement::dampingFactor ( ) const

Get the damping factor.

◆ dimension()

unsigned int ChppGikMotionPlanElement::dimension ( ) const
virtual

Get the dimension of this motion plan element.

Implements CjrlLinearConstraint.

◆ influencingDofs()

vectorN& ChppGikMotionPlanElement::influencingDofs ( )
virtual

Get the influencing dofs.

Implements CjrlGikStateConstraint.

◆ jacobian()

const matrixNxP& ChppGikMotionPlanElement::jacobian ( )
virtual

Get the current Jacobian.

Implements CjrlLinearConstraint.

◆ jacobianRoot()

void ChppGikMotionPlanElement::jacobianRoot ( CjrlJoint &  inJoint)
virtual

◆ priority()

unsigned int ChppGikMotionPlanElement::priority ( ) const

Get the priority.

◆ removeConstraint()

bool ChppGikMotionPlanElement::removeConstraint ( const CjrlGikStateConstraint inJrlStateConstraint)

Remove a constraint.

Recomputing new value and jacobian is NOT done automatically.

Returns
false if constraint not found

◆ robot()

CjrlDynamicRobot& ChppGikMotionPlanElement::robot ( )
virtual

Get associated robot.

Implements CjrlGikStateConstraint.

◆ value()

const vectorN& ChppGikMotionPlanElement::value ( )
virtual

Get the current value of this motion plan element (task).

Implements CjrlLinearConstraint.

◆ workingJoints() [1/2]

const vectorN& ChppGikMotionPlanElement::workingJoints ( ) const

Get a mask on the configuration vector denoting the working degrees of freedom.

◆ workingJoints() [2/2]

void ChppGikMotionPlanElement::workingJoints ( const vectorN inVec)

Set a mask on the configuration vector denoting the working degrees of freedom.