ChppGikVectorizableConstraint Class Referenceabstract

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

Inheritance diagram for ChppGikVectorizableConstraint:
Collaboration diagram for ChppGikVectorizableConstraint:

Public Member Functions

virtual void computeVectorizedState ()=0
 Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. More...
 
virtual const vectorNvectorizedState () const
 Get the full state (this constraint and its first two derivatives) of the constraint expressed as a vectorN. More...
 
virtual void computeVectorizedTarget ()=0
 Compute the target of the constraint as a vectorN. More...
 
virtual bool vectorizedTarget (const vectorN &inTarget)=0
 Set the target of the constraint with a vectorN. More...
 
virtual const vectorNvectorizedTarget () const
 Get the target of the constraint expressed as a vectorN. More...
 
virtual ~ChppGikVectorizableConstraint ()
 Destructor. More...
 
- Public Member Functions inherited from CjrlGikStateConstraint
virtual CjrlGikStateConstraintclone () const=0
 
virtual CjrlDynamicRobot & robot ()=0
 
virtual void jacobianRoot (CjrlJoint &inJoint)=0
 
virtual vectorNinfluencingDofs ()=0
 
virtual void computeInfluencingDofs ()=0
 
virtual void computeValue ()=0
 
virtual void computeJacobian ()=0
 
virtual CjrlDynamicRobot & robot ()=0
 
virtual void jacobianRoot (CjrlJoint &inJoint)=0
 
virtual vectorNinfluencingDofs ()=0
 
virtual void computeInfluencingDofs ()=0
 
virtual void computeValue ()=0
 
virtual void computeJacobian ()=0
 
- Public Member Functions inherited from CjrlLinearConstraint
virtual unsigned int dimension () const=0
 
virtual const vectorNvalue ()=0
 
virtual const matrixNxPjacobian ()=0
 
virtual ~CjrlLinearConstraint ()
 

Protected Attributes

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...
 

Constructor & Destructor Documentation

◆ ~ChppGikVectorizableConstraint()

virtual ChppGikVectorizableConstraint::~ChppGikVectorizableConstraint ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ computeVectorizedState()

virtual void ChppGikVectorizableConstraint::computeVectorizedState ( )
pure virtual

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

Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.

◆ computeVectorizedTarget()

virtual void ChppGikVectorizableConstraint::computeVectorizedTarget ( )
pure virtual

◆ vectorizedState()

virtual const vectorN& ChppGikVectorizableConstraint::vectorizedState ( ) const
inlinevirtual

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

References attVectorizedState, computeVectorizedTarget(), and vectorizedTarget().

◆ vectorizedTarget() [1/2]

virtual bool ChppGikVectorizableConstraint::vectorizedTarget ( const vectorN inTarget)
pure virtual

Set 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

Implemented in ChppGikConfigurationConstraint, ChppGikTransformationConstraint, ChppGikPlaneConstraint, ChppGikPointingConstraint, ChppGikPositionConstraint, ChppGikParallelConstraint, and ChppGikRotationConstraint.

◆ vectorizedTarget() [2/2]

virtual const vectorN& ChppGikVectorizableConstraint::vectorizedTarget ( ) const
inlinevirtual

Get the target of the constraint expressed as a vectorN.

References attVectorizedTarget.

Referenced by vectorizedState().

Member Data Documentation

◆ attVectorizedState

vectorN ChppGikVectorizableConstraint::attVectorizedState
protected

The vectorial expression of the constraint's full sdtate at the moment of computation.

Referenced by vectorizedState().

◆ attVectorizedTarget

vectorN ChppGikVectorizableConstraint::attVectorizedTarget
protected

The vectorial expression of the constraint's target at the moment of computation.

Referenced by vectorizedTarget().