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