Implementation of some commom functions in CjrlGikJointStateConstraint.
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#include <hpp/gik/constraint/joint-state-constraint.hh>
Implementation of some commom functions in CjrlGikJointStateConstraint.
◆ ChppGikJointStateConstraint()
ChppGikJointStateConstraint::ChppGikJointStateConstraint |
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CjrlDynamicRobot & |
inRobot, |
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CjrlJoint & |
inJoint, |
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unsigned int |
inDimension |
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Constructor.
- Parameters
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inRobot | Reference to the robot the constraint is associated to. |
inJoint | Reference to the joint the constraint is associated to. |
inDimension | of the constraint. |
◆ computeInfluencingDofs()
virtual void ChppGikJointStateConstraint::computeInfluencingDofs |
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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.
Referenced by joint().
◆ dimension()
virtual unsigned int ChppGikJointStateConstraint::dimension |
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const |
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virtual |
◆ influencingDofs()
virtual vectorN& ChppGikJointStateConstraint::influencingDofs |
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◆ jacobian()
virtual const matrixNxP& ChppGikJointStateConstraint::jacobian |
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◆ jacobianRoot()
virtual void ChppGikJointStateConstraint::jacobianRoot |
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CjrlJoint & |
inJoint | ) |
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virtual |
◆ joint() [1/2]
virtual void ChppGikJointStateConstraint::joint |
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CjrlJoint * |
inJoint | ) |
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virtual |
◆ joint() [2/2]
virtual CjrlJoint* ChppGikJointStateConstraint::joint |
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inlinevirtual |
◆ robot()
virtual CjrlDynamicRobot& ChppGikJointStateConstraint::robot |
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inlinevirtual |
◆ value()
virtual const vectorN& ChppGikJointStateConstraint::value |
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virtual |
◆ attInfluencingDofs
vectorN ChppGikJointStateConstraint::attInfluencingDofs |
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protected |
◆ attJacobian
matrixNxP ChppGikJointStateConstraint::attJacobian |
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protected |
◆ attRootJoint
CjrlJoint* ChppGikJointStateConstraint::attRootJoint |
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protected |
◆ attValue
vectorN ChppGikJointStateConstraint::attValue |
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protected |