jrlGikComConstraint.h File Reference
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Classes

class  CjrlGikComConstraint
 Specify a full or partial position constraint on the center of mass. More...
 
CjrlLinearConstraint::~CjrlLinearConstraint
virtual ~CjrlLinearConstraint()
Destructor.
Definition: jrlLinearConstraint.h:34
CjrlRobotMotion
Defines the motion of a robot along time.
Definition: jrlRobotMotion.h:14
CjrlGikStateConstraint::jacobianRoot
virtual void jacobianRoot(CjrlJoint &inJoint)=0
Select the joint in the robot that serves as root for computation of jacobians.
CjrlGikStateConstraint
Specify a linear constraint over the state of a humanoid robot.
Definition: jrlGikStateConstraint.h:17
CjrlGikPointingConstraint::localOrigin
virtual const vector3d & localOrigin()=0
Get the origin of the pointing vector.
CjrlGikMotionConstraint::robot
virtual CjrlDynamicRobot * robot()=0
Get a pointer to associated robot.
CjrlGikParallelConstraint::targetVector
virtual const vector3d & targetVector()=0
Get the target vector associated to the constraint.
CjrlGikMotionConstraint::startTime
virtual double startTime()=0
Get lower bound of definition interval.
CjrlGikPositionConstraint
Constraint on a point in a joint to be at a 3D position in the world frame.
Definition: jrlGikPositionConstraint.h:16
CjrlGikParallelConstraint
Constraint on a vector in a joint frame to be parallel to a vector given in world frame.
Definition: jrlGikParallelConstraint.h:24
CjrlRobotMotion::robot
virtual const CjrlHumanoidDynamicRobot & robot()=0
Get robot for which motion is defined.
CjrlGikStateConstraint::clone
virtual CjrlGikStateConstraint * clone() const =0
Copy constructor.
CjrlRobotMotion::velocityAtTime
virtual bool velocityAtTime(double inTime, vectorN &outVector) const =0
Get velocity at given time.
CjrlGikStateConstraint::computeValue
virtual void computeValue()=0
Compute the value of the constraint.
jrlGikRotationConstraint.h
CjrlGikGazeConstraint::localOrigin
virtual void localOrigin(const vector3d &inPoint)
Set the origin of the pointing vector in joint's local frame (should be an illelgal operation for gaz...
Definition: jrlGikGazeConstraint.h:23
CjrlGikGazeConstraint::localVector
virtual void localVector(const vector3d &inPoint)
Set the pointing vector in joint's local frame (should be an illelgal operation for gaze constraint).
Definition: jrlGikGazeConstraint.h:28
CjrlGikPositionConstraint::localPoint
virtual const vector3d & localPoint()=0
Get the point associated to the constraint (in joint's local frame).
CjrlGikTransformationConstraint::worldTarget
virtual const vector3d & worldTarget()=0
Get the target point associated to the constraint (in world's frame).
CjrlLinearConstraint::dimension
virtual unsigned int dimension() const =0
Get the dimension of the constraint.
CjrlGikStateConstraint::computeInfluencingDofs
virtual void computeInfluencingDofs()=0
Compute the influencing dofs vector.
CjrlGikMotionConstraint
Define the evolution of a state constraint along time.
Definition: jrlGikMotionConstraint.h:11
CjrlGikPointingConstraint::worldTarget
virtual const vector3d & worldTarget()=0
Get the target point associated to the constraint (in world's frame).
CjrlGikObjectConstructor::createRotationConstraint
static CjrlGikRotationConstraint * createRotationConstraint(CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const matrix3d &inTargetOrientation)
Construct and return a pointer to a CjrlGikRotationConstraint.
Definition: jrlGikObjectConstructor.h:88
jrlGikJointStateConstraint.h
CjrlRobotMotion::startTime
virtual double startTime() const =0
Get lower bound of definition interval.
CjrlLinearConstraint
A linear constraint is an object that returns a m-by-n matrix and an m-vector defining a linear syste...
Definition: jrlLinearConstraint.h:14
CjrlGikStateConstraint::influencingDofs
virtual vectorN & influencingDofs()=0
Get the influencing dofs vector which is a binary vector whose size matches the robot cnfiguration's,...
CjrlGikPositionConstraint::worldTarget
virtual const vector3d & worldTarget()=0
Get the target point associated to the constraint (in world's frame).
CjrlGikMotionConstraint::stateConstraintAtTime
virtual CjrlGikStateConstraint * stateConstraintAtTime(double inTime)=0
Get state constraint at a given time.
CjrlGikPlaneConstraint::localPoint
virtual const vector3d & localPoint()=0
Get the point associated to the constraint (in joint's local frame).
CjrlGikObjectConstructor::createTransformationConstraint
static CjrlGikTransformationConstraint * createTransformationConstraint(CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const matrix4d &inTargetWorldTransformation)
Construct and return a pointer to a CjrlGikTransformationConstraint (transformation matrix)
Definition: jrlGikObjectConstructor.h:77
CjrlGikMotionConstraint::endTime
virtual double endTime()=0
Get upper bound of definition interval.
CjrlRobotMotion::configAtTime
virtual bool configAtTime(double inTime, vectorN &outConfig) const =0
Get Configuration at given time.
CjrlGikPointingConstraint
Constraint on a line segment attached to a body to be aligned with a given point in the world frame.
Definition: jrlGikPointingConstraint.h:10
CjrlLinearConstraint::jacobian
virtual const matrixNxP & jacobian()=0
Get the constraint Jacobian.
CjrlGikTransformationConstraint::targetOrientation
virtual const matrix3d & targetOrientation()=0
Get the target orientation.
jrlGikComConstraint.h
CjrlGikTransformationConstraint
Specify a position and orientation constraint on a body of the robot.
Definition: jrlGikTransformationConstraint.h:17
CjrlGikGazeConstraint::joint
virtual void joint(CjrlJoint *inJoint)
Set the joint associated to the constraint (should be an illelgal operation for gaze constraint).
Definition: jrlGikGazeConstraint.h:18
CjrlGikObjectConstructor::createTransformationConstraint
static CjrlGikTransformationConstraint * createTransformationConstraint(CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetWorldPoint, const matrix3d &inTargetOrientation)
Construct and return a pointer to a CjrlGikTransformationConstraint.
Definition: jrlGikObjectConstructor.h:65
CjrlGikObjectConstructor::createGazeConstraint
static CjrlGikGazeConstraint * createGazeConstraint(CjrlHumanoidDynamicRobot &inRobot, const vector3d &inGazeTarget)
Construct and return a pointer to a CjrlGikGazeConstraint.
Definition: jrlGikObjectConstructor.h:53
CjrlGikJointStateConstraint::joint
virtual CjrlJoint * joint()=0
Get the joint associated to the constraint.
CjrlGikComConstraint
Specify a full or partial position constraint on the center of mass.
Definition: jrlGikComConstraint.h:11
jrlLinearConstraint.h
CjrlGikRotationConstraint
Constraint on the orientation matrix of a joint to change to a given orientation matrix.
Definition: jrlGikRotationConstraint.h:16
jrlGikPositionConstraint.h
CjrlGikPlaneConstraint
Description of a constraint that limits the position of a point of the robot to a given plan.
Definition: jrlGikPlaneConstraint.h:27
CjrlGikPointingConstraint::localVector
virtual const vector3d & localVector()=0
Set the pointing vector in joint's local frame.
CjrlGikPlaneConstraint::worldPlanePoint
virtual const vector3d & worldPlanePoint()=0
Get the point of the defined plane (in world's frame).
CjrlGikRotationConstraint::targetOrientation
virtual const matrix3d & targetOrientation()=0
Get the point associated to the constraint (in joint's local frame).
CjrlGikComConstraint::worldTarget
virtual const vectorN & worldTarget()=0
Get the target point associated to the constraint (in world's frame).
CjrlGikObjectConstructor::createPlaneConstraint
static CjrlGikPlaneConstraint * createPlaneConstraint(CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetPlanePoint, const vector3d &inTargetPlaneNormal)
Construct and return a pointer to a CjrlGikPlaneConstraint.
Definition: jrlGikObjectConstructor.h:113
CjrlLinearConstraint::value
virtual const vectorN & value()=0
Get the constraint value.
jrlGikParallelConstraint.h
CjrlGikObjectConstructor
Definition: jrlGikObjectConstructor.h:19
CjrlGikPlaneConstraint::worldPlaneNormal
virtual const vector3d & worldPlaneNormal()=0
Get the normal of the defined plane (in world's frame).
CjrlGikParallelConstraint::localVector
virtual const vector3d & localVector()=0
Get the vector associated to the constraint (in joint's local frame).
jrlGikGazeConstraint.h
CjrlGikObjectConstructor::createComConstraint
static CjrlGikComConstraint * createComConstraint(CjrlDynamicRobot &inRobot, double inX, double inY)
Construct and return a pointer to a CjrlGikComConstraint.
Definition: jrlGikObjectConstructor.h:125
CjrlGikObjectConstructor::createPointingConstraint
static CjrlGikPointingConstraint * createPointingConstraint(CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalOrigin, const vector3d &inLocalVector, const vector3d &inTargetWorldPoint)
Construct and return a pointer to a CjrlGikPointingConstraint.
Definition: jrlGikObjectConstructor.h:43
CjrlGikStateConstraint::computeJacobian
virtual void computeJacobian()=0
Compute the Jacobian of the constraint with respect to the internal degrees of freedom and to a selec...
jrlGikStateConstraint.h
CjrlGikStateConstraint::robot
virtual CjrlDynamicRobot & robot()=0
Get associated robot.
jrlGikPlaneConstraint.h
CjrlRobotMotion::endTime
virtual double endTime() const =0
Get upper bound of defintion interval.
CjrlGikComConstraint::targetXYZ
virtual void targetXYZ(const vectorN &inTarget)=0
Set constraint on x,y,z of com (in world's frame).
CjrlGikObjectConstructor::createPositionConstraint
static CjrlGikPositionConstraint * createPositionConstraint(CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalPoint, const vector3d &inTargetWorldPoint)
Construct and return a pointer to a CjrlGikPositionConstraint.
Definition: jrlGikObjectConstructor.h:30
CjrlRobotMotion::accelerationAtTime
virtual bool accelerationAtTime(double inTime, vectorN &outVector) const =0
Get Acceleration at given time.
jrlGikMotionConstraint.h
CjrlGikJointStateConstraint
Specify a Constraint over the state of a joint in a humanoid robot.
Definition: jrlGikJointStateConstraint.h:11
CjrlGikMotionConstraint::~CjrlGikMotionConstraint
virtual ~CjrlGikMotionConstraint()
Destructor.
Definition: jrlGikMotionConstraint.h:46
CjrlGikMotionConstraint::clone
virtual CjrlGikMotionConstraint * clone() const =0
Clone constructor.
CjrlGikObjectConstructor::createParallelConstraint
static CjrlGikParallelConstraint * createParallelConstraint(CjrlDynamicRobot &inRobot, CjrlJoint &inJoint, const vector3d &inLocalVector, const vector3d &inTargetWorldVector)
Construct and return a pointer to a CjrlGikParallelConstraint.
Definition: jrlGikObjectConstructor.h:100
CjrlRobotMotion::~CjrlRobotMotion
virtual ~CjrlRobotMotion()
Destructor.
Definition: jrlRobotMotion.h:20
jrlGikTransformationConstraint.h
CjrlGikTransformationConstraint::localPoint
virtual const vector3d & localPoint()=0
Get the point associated to the constraint (in joint's local frame).
CjrlGikComConstraint::targetXY
virtual void targetXY(double inX, double inY)=0
Set a constraint on Xcom and Ycom (in world's frame).
jrlGikPointingConstraint.h
CjrlGikTransformationConstraint::targetTransformation
virtual const matrix4d & targetTransformation()=0
Get the target transformation.
CjrlGikGazeConstraint
This is a PointingConstraint whose joint is the humanoid robot's gaze joint.
Definition: jrlGikGazeConstraint.h:11