hpp::model::AnchorJointConfig Class Reference

Configuration of a JointAnchor. More...

#include <hpp/model/joint-configuration.hh>

Inheritance diagram for hpp::model::AnchorJointConfig:
Collaboration diagram for hpp::model::AnchorJointConfig:

Public Member Functions

 AnchorJointConfig ()
 
virtual ~AnchorJointConfig ()
 
virtual void interpolate (ConfigurationIn_t, ConfigurationIn_t, const value_type &, const size_type &, ConfigurationOut_t)
 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...
 
- Public Member Functions inherited from hpp::model::JointConfiguration
 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...
 

Detailed Description

Configuration of a JointAnchor.

Constructor & Destructor Documentation

◆ AnchorJointConfig()

hpp::model::AnchorJointConfig::AnchorJointConfig ( )

◆ ~AnchorJointConfig()

virtual hpp::model::AnchorJointConfig::~AnchorJointConfig ( )
virtual

Member Function Documentation

◆ difference()

virtual void hpp::model::AnchorJointConfig::difference ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2,
const size_type indexConfig,
const size_type indexVelocity,
vectorOut_t  result 
) const
virtual

Difference between two configurations.

Parameters
q1configuration,
q2configuration,
indexConfigindex of first component of q corresponding to the joint.
indexVelocityindex of first component of v corresponding to the joint
Return values
result[indexVelocity:indexVelocity+nbdofs]part of vector representing the difference between q1 and q2.

See derived classes for details

Implements hpp::model::JointConfiguration.

◆ distance()

virtual value_type hpp::model::AnchorJointConfig::distance ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2,
const size_type index 
) const
virtual

Distance between two configurations of the joint.

Parameters
q1,q2two configurations of the robot
indexindex of first component of q1 and q2 corresponding to the joint.
Returns
0

Implements hpp::model::JointConfiguration.

◆ integrate()

virtual void hpp::model::AnchorJointConfig::integrate ( ConfigurationIn_t  q,
vectorIn_t  v,
const size_type indexConfig,
const size_type indexVelocity,
ConfigurationOut_t  result 
) const
virtual

Integrate constant derivative during unit time.

Parameters
qinitial configuration
vjoint velocity
indexConfigindex of first component of q corresponding to the joint.
indexVelocityindex of first component of v corresponding to the joint
Return values
resultwrite joint configuration in result [indexConfig:indexConfig + joint config size]
Note
if result is beying bounds, return active bound.

Implements hpp::model::JointConfiguration.

◆ interpolate()

virtual void hpp::model::AnchorJointConfig::interpolate ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2,
const value_type u,
const size_type index,
ConfigurationOut_t  result 
)
virtual

Interpolate two configurations of the joint.

Parameters
q1,q2,twoconfigurations to interpolate
uin [0,1] position along the interpolation: q1 for u=0, q2 for u=1
indexindex of first component of q1 and q2 corresponding to the joint.
Return values
resultwrite 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:

  • a real value for translation joint and bounded rotation joints,
  • an angle for unbounded rotation joints,
  • x, y, z, roll, pitch, yaw for freeflyer joints.

Implements hpp::model::JointConfiguration.

◆ uniformlySample()

virtual void hpp::model::AnchorJointConfig::uniformlySample ( const size_type index,
ConfigurationOut_t  result 
) const
virtual

Uniformly sample the configuration space of the joint.

Parameters
indexindex of first component of q corresponding to the joint.
Return values
resultwrite joint configuration in result [index:index+nb dofs]

Implements hpp::model::JointConfiguration.