Configuration of a JointRotation.
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#include <hpp/model/joint-configuration.hh>
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| RotationJointConfig (size_type configSize) |
| Constructor. More...
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virtual | ~RotationJointConfig () |
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virtual void | interpolate (ConfigurationIn_t q1, ConfigurationIn_t q2, const value_type &u, const size_type &index, ConfigurationOut_t result)=0 |
| Interpolate two configurations of the joint. More...
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virtual value_type | distance (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &index) const =0 |
| Distance between two configurations of the joint. More...
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virtual void | integrate (ConfigurationIn_t q, vectorIn_t v, const size_type &indexConfig, const size_type &indexVelocity, ConfigurationOut_t result) const =0 |
| Integrate constant derivative during unit time. More...
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virtual void | difference (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &indexConfig, const size_type &indexVelocity, vectorOut_t result) const =0 |
| Difference between two configurations. More...
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virtual void | uniformlySample (const size_type &index, ConfigurationOut_t result) const =0 |
| Uniformly sample the configuration space of the joint. More...
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| JointConfiguration (size_type configSize) |
| Constructor. More...
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virtual | ~JointConfiguration () |
| Destructor. More...
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void | isBounded (size_type rank, bool bounded) |
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bool | isBounded (size_type rank) const |
| Get whether given degree of freedom is bounded. More...
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value_type | lowerBound (size_type rank) const |
| Get lower bound of given degree of freedom. More...
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value_type | upperBound (size_type rank) const |
| Get upper bound of given degree of freedom. More...
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void | lowerBound (size_type rank, value_type lowerBound) |
| Set lower bound of given degree of freedom. More...
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void | upperBound (size_type rank, value_type upperBound) |
| Set upper bound of given degree of freedom. More...
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Configuration of a JointRotation.
◆ RotationJointConfig()
hpp::model::RotationJointConfig::RotationJointConfig |
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size_type |
configSize | ) |
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Constructor.
- Parameters
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configSize | dimension of the joint configuration size: used to resize the vector of bounds. |
◆ ~RotationJointConfig()
virtual hpp::model::RotationJointConfig::~RotationJointConfig |
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virtual |
◆ difference()
Difference between two configurations.
- Parameters
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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 |
- Return values
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result[indexVelocity] | component of vector representing the difference between q1 and q2. |
If joint is bounded:
If joint is not bounded:
where
is such that
lies between
and
.
Implements hpp::model::JointConfiguration.
◆ distance()
Distance between two configurations of the joint.
- Parameters
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q1,q2 | two configurations of the robot |
index | index of first component of q1 and q2 corresponding to the joint. |
- Returns
- the angle between the joint orientations
Implements hpp::model::JointConfiguration.
◆ integrate()
Integrate constant derivative during unit time.
- Parameters
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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 |
- Return values
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result | write joint configuration in result [indexConfig:indexConfig + joint config size] |
- Note
- if result is beying bounds, return active bound.
Implements hpp::model::JointConfiguration.
◆ interpolate()
Interpolate two configurations of the joint.
- Parameters
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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. |
- Return values
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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:
- 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()
Uniformly sample the configuration space of the joint.
- Parameters
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index | index of first component of q corresponding to the joint. |
- Return values
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result | write joint configuration in result [index:index+nb dofs] |
Implements hpp::model::JointConfiguration.