Configuration of a JointTranslation. More...
#include <hpp/model/joint-configuration.hh>
Public Member Functions | |
TranslationJointConfig () | |
virtual | ~TranslationJointConfig () |
virtual void | interpolate (ConfigurationIn_t q1, ConfigurationIn_t q2, const value_type &u, const size_type &index, ConfigurationOut_t result) |
Interpolate two configurations of the joint. More... | |
virtual value_type | distance (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &index) const |
Distance between two configurations of the joint. More... | |
virtual void | integrate (ConfigurationIn_t q, vectorIn_t v, const size_type &indexConfig, const size_type &indexVelocity, ConfigurationOut_t result) const |
Integrate constant derivative during unit time. More... | |
virtual void | difference (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &indexConfig, const size_type &indexVelocity, vectorOut_t result) const |
Difference between two configurations. More... | |
virtual void | uniformlySample (const size_type &index, ConfigurationOut_t result) const |
Uniformly sample the configuration space of the joint. More... | |
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JointConfiguration (size_type configSize) | |
Constructor. More... | |
virtual | ~JointConfiguration () |
Destructor. More... | |
void | isBounded (size_type rank, bool bounded) |
bool | isBounded (size_type rank) const |
Get whether given degree of freedom is bounded. More... | |
value_type | lowerBound (size_type rank) const |
Get lower bound of given degree of freedom. More... | |
value_type | upperBound (size_type rank) const |
Get upper bound of given degree of freedom. More... | |
void | lowerBound (size_type rank, value_type lowerBound) |
Set lower bound of given degree of freedom. More... | |
void | upperBound (size_type rank, value_type upperBound) |
Set upper bound of given degree of freedom. More... | |
Configuration of a JointTranslation.
hpp::model::TranslationJointConfig< dimension >::TranslationJointConfig | ( | ) |
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virtual |
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virtual |
Difference between two configurations.
q1 | configuration, |
q2 | configuration, |
indexConfig | index of first component of q corresponding to the joint. |
indexVelocity | index of first component of v corresponding to the joint |
result[index] | component of vector representing the difference between q1 and q2. |
Implements hpp::model::JointConfiguration.
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virtual |
Distance between two configurations of the joint.
q1,q2 | two configurations of the robot |
index | index of first component of q1 and q2 corresponding to the joint. |
Implements hpp::model::JointConfiguration.
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virtual |
Integrate constant derivative during unit time.
q | initial configuration |
v | joint velocity |
indexConfig | index of first component of q corresponding to the joint. |
indexVelocity | index of first component of v corresponding to the joint |
result | write joint configuration in result [indexConfig:indexConfig + joint config size] |
Implements hpp::model::JointConfiguration.
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virtual |
Interpolate two configurations of the joint.
q1,q2,two | configurations to interpolate |
u | in [0,1] position along the interpolation: q1 for u=0, q2 for u=1 |
index | index of first component of q1 and q2 corresponding to the joint. |
result | write joint configuration in result [index:index+nb dofs] |
q1 and q2 are configurations of the robot where coordinates between index and index + number of dofs - 1 correspond to the configuration of the joint:
Implements hpp::model::JointConfiguration.
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virtual |
Uniformly sample the configuration space of the joint.
index | index of first component of q corresponding to the joint. |
result | write joint configuration in result [index:index+nb dofs] |
Implements hpp::model::JointConfiguration.