#include <hpp/constraints/generic-transformation.hh>

Inheritance diagram for hpp::constraints::GenericTransformation< _Options >:

Collaboration diagram for hpp::constraints::GenericTransformation< _Options >:

Public Types
enum	{ IsRelative = _Options & RelativeBit , ComputeOrientation = _Options & OrientationBit , ComputePosition = _Options & PositionBit , OutputR3xSO3 = _Options & OutputR3xSO3Bit , IsPosition = ComputePosition && !ComputeOrientation , IsOrientation = !ComputePosition && ComputeOrientation , IsTransform = ComputePosition && ComputeOrientation , ValueSize , DerSize = (ComputePosition ? 3 : 0) + (ComputeOrientation ? 3 : 0) }

typedef shared_ptr< GenericTransformation >	Ptr_t

typedef weak_ptr< GenericTransformation >	WkPtr_t

Public Member Functions
virtual	~GenericTransformation ()

void	reference (const Transform3s &reference)

Transform3s	reference () const
	Get desired relative orientation. More...

void	joint1 (const JointConstPtr_t &joint)
	Set joint 1. More...

JointConstPtr_t	joint1 () const
	Get joint 1. More...

void	joint2 (const JointConstPtr_t &joint)
	Set joint 2. More...

JointConstPtr_t	joint2 () const
	Get joint 2. More...

void	frame1InJoint1 (const Transform3s &M)
	Set position of frame 1 in joint 1. More...

const Transform3s &	frame1InJoint1 () const
	Get position of frame 1 in joint 1. More...

void	frame2InJoint2 (const Transform3s &M)
	Set position of frame 2 in joint 2. More...

const Transform3s &	frame2InJoint2 () const
	Get position of frame 2 in joint 2. More...

std::pair< JointConstPtr_t, JointConstPtr_t >	dependsOnRelPoseBetween (DeviceConstPtr_t) const

virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream. More...

	GenericTransformation (const std::string &name, const DevicePtr_t &robot, std::vector< bool > mask)

Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()

LiegroupElement	operator() (vectorIn_t argument) const

void	value (LiegroupElementRef result, vectorIn_t argument) const

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const

const ArrayXb &	activeParameters () const

const ArrayXb &	activeDerivativeParameters () const

size_type	inputSize () const
	Get dimension of input vector. More...

size_type	inputDerivativeSize () const

LiegroupSpacePtr_t	outputSpace () const
	Get output space. More...

size_type	outputSize () const
	Get dimension of output vector. More...

size_type	outputDerivativeSize () const
	Get dimension of output derivative vector. More...

const std::string &	name () const
	Get function name. More...

std::string	context () const

void	context (const std::string &c)

void	finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const

bool	operator== (DifferentiableFunction const &other) const

bool	operator!= (DifferentiableFunction const &b) const

Static Public Member Functions
static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint2, const Transform3s &reference, std::vector< bool > mask=std::vector< bool >(DerSize, true))

static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint2, const Transform3s &frame2, const Transform3s &frame1, std::vector< bool > mask=std::vector< bool >(DerSize, true))

static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3s &reference, std::vector< bool > mask=std::vector< bool >(DerSize, true))

static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3s &frame1, const Transform3s &frame2, std::vector< bool > mask=std::vector< bool >(DerSize, true))

Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t	extract (DifferentiableFunctionPtr_t original, interval_t interval)

Protected Member Functions
void	init (const WkPtr_t &self)

virtual void	impl_compute (LiegroupElementRef result, ConfigurationIn_t argument) const

virtual void	impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const

bool	isEqual (const DifferentiableFunction &other) const

Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation. More...

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0

	DifferentiableFunction ()

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
	Dimension of input vector. More...

size_type	inputDerivativeSize_
	Dimension of input derivative. More...

LiegroupSpacePtr_t	outputSpace_
	Dimension of output vector. More...

ArrayXb	activeParameters_

ArrayXb	activeDerivativeParameters_

Detailed Description

template<int _Options>
class hpp::constraints::GenericTransformation< _Options >

GenericTransformation class encapsulates 10 possible differentiable functions: Position, Orientation, OrientationSO3, Transformation, TransformationR3xSO3 and their relative versions RelativeTransformationR3xSO3, RelativePosition, RelativeOrientation, RelativeOrientationSO3, RelativeTransformation.

These functions compute the position of frame GenericTransformation::frame2InJoint2 in joint GenericTransformation::joint2 frame, in the frame GenericTransformation::frame1InJoint1 in GenericTransformation::joint1 frame. For absolute functions, GenericTransformation::joint1 is NULL and joint1 frame is the world frame.

The value of the RelativeTransformation function is a 6-dimensional vector. The 3 first coordinates are the position of the center of the second frame expressed in the first frame. The 3 last coordinates are the log of the orientation of frame 2 in frame 1. The values of RelativePosition and RelativeOrientation are respectively the 3 first and the 3 last components of the above 6 dimensional vector.

$\begin{equation*} f (\mathbf{q}) = \left(\begin{array}{c} \mathbf{translation}\left(T_{1/J_1}^T T_1^T T_2 T_{2/J_2}\right)\\ \log \left((R_1 R_{1/J_1})^T R_2 R_{2/J_2}\right) \end{array}\right) \end{equation*}$

The Jacobian is given by

$\begin{equation*} \left(\begin{array}{c} (R_1 R_{1/J_1})^T \left(\left[R_2 t_{2/J_2} + t_2 - t_1\right]_{\times} R_1 J_{1\,\omega} - \left[R_2 t_{2/J_2}\right]_{\times} R_2 J_{2\,\omega} + R_2 J_{2\,\mathbf{v}} - R_1 J_{1\,\mathbf{v}}\right) \\ J_{log}\left((R_1 R_{1/J_1})^T R_2 R_{2/J_2}\right)(R_1 R_{1/J_1})^T (R_2 J_{2\,\omega} - R_1 J_{1\,\omega}) \end{array}\right) \end{equation*}$

For RelativeTransformationR3xSO3, OrientationSO3, the 3 last components are replaced by a quaternion.

Member Typedef Documentation

◆ Ptr_t

template<int _Options>

typedef shared_ptr<GenericTransformation> hpp::constraints::GenericTransformation< _Options >::Ptr_t

◆ WkPtr_t

template<int _Options>

typedef weak_ptr<GenericTransformation> hpp::constraints::GenericTransformation< _Options >::WkPtr_t

Member Enumeration Documentation

◆ anonymous enum

template<int _Options>

anonymous enum

Enumerator
IsRelative
ComputeOrientation
ComputePosition
OutputR3xSO3
IsPosition
IsOrientation
IsTransform
ValueSize
DerSize

Constructor & Destructor Documentation

◆ ~GenericTransformation()

template<int _Options>

virtual hpp::constraints::GenericTransformation< _Options >::~GenericTransformation ( )

inlinevirtual

◆ GenericTransformation()

template<int _Options>

hpp::constraints::GenericTransformation< _Options >::GenericTransformation	(	const std::string &	name,
		const DevicePtr_t &	robot,
		std::vector< bool >	mask
	)

Constructor

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to, $T_1(\mathbf{q})^{-1} T_2(\mathbf{q})$ between the joints.
mask	vector of 6 boolean defining which coordinates of the error vector to take into account.

Member Function Documentation

◆ create() [1/4]

template<int _Options>

static Ptr_t hpp::constraints::GenericTransformation< _Options >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint1,
		const JointConstPtr_t &	joint2,
		const Transform3s &	frame1,
		const Transform3s &	frame2,
		std::vector< bool >	mask = `std::vector< bool >(DerSize, true)`
	)

static

Object builder for relative functions.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint1	the first joint the transformation of which is constrained,
joint2	the second joint the transformation of which is constrained,
frame1	position of a fixed frame in joint 1,
frame2	position of a fixed frame in joint 2,
mask	vector of 6 boolean defining which coordinates of the error vector to take into account.

Note: if joint1 is 0x0, joint 1 frame is considered to be the global frame.; For RelativePosition, the rotation part of frame1 defines the frame in which the error is expressed and the rotation of frame2 has no effect.

◆ create() [2/4]

template<int _Options>

static Ptr_t hpp::constraints::GenericTransformation< _Options >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint1,
		const JointConstPtr_t &	joint2,
		const Transform3s &	reference,
		std::vector< bool >	mask = `std::vector< bool >(DerSize, true)`
	)

static

Object builder for relative functions.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint1	the first joint the transformation of which is constrained,
joint2	the second joint the transformation of which is constrained,
reference	desired relative transformation $T_1(\mathbf{q})^{-1} T_2(\mathbf{q})$ between the joints.
mask	which component of the error vector to take into account.

◆ create() [3/4]

template<int _Options>

static Ptr_t hpp::constraints::GenericTransformation< _Options >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint2,
		const Transform3s &	frame2,
		const Transform3s &	frame1,
		std::vector< bool >	mask = `std::vector< bool >(DerSize, true)`
	)

static

Object builder for absolute functions.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint2	the second joint the transformation of which is constrained,
frame2	position of a fixed frame in joint 2,
frame1	position of a fixed frame in the world,
mask	vector of 6 boolean defining which coordinates of the error vector to take into account.

Note: For Position, the rotation part of frame1 defines the frame in which the error is expressed and the rotation of frame2 has no effect.

◆ create() [4/4]

template<int _Options>

static Ptr_t hpp::constraints::GenericTransformation< _Options >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint2,
		const Transform3s &	reference,
		std::vector< bool >	mask = `std::vector< bool >(DerSize, true)`
	)

static

Object builder for absolute functions.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint2	the second joint the transformation of which is constrained,
reference	desired relative transformation $T_2(\mathbf{q})$ between the joints.
mask	which component of the error vector to take into account.

◆ dependsOnRelPoseBetween()

template<int _Options>

std::pair<JointConstPtr_t, JointConstPtr_t> hpp::constraints::GenericTransformation< _Options >::dependsOnRelPoseBetween ( DeviceConstPtr_t ) const

inlinevirtual

Return pair of joints the relative pose between which modifies the function value if any

This method is useful to know whether an instance of Implicit constrains the relative pose between two joints.

Returns: the pair of joints involved, arranged in order of increasing joint index, or a pair of empty shared pointers. or a pair of empty shared pointers.

Note: if absolute pose (relative pose with respect to "universe"), "universe" is returned as empty shared pointer

Reimplemented from hpp::constraints::DifferentiableFunction.

◆ frame1InJoint1() [1/2]

template<int _Options>

const Transform3s& hpp::constraints::GenericTransformation< _Options >::frame1InJoint1 ( ) const

inline

Get position of frame 1 in joint 1.

◆ frame1InJoint1() [2/2]

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::frame1InJoint1 ( const Transform3s & M )

inline

Set position of frame 1 in joint 1.

◆ frame2InJoint2() [1/2]

template<int _Options>

const Transform3s& hpp::constraints::GenericTransformation< _Options >::frame2InJoint2 ( ) const

inline

Get position of frame 2 in joint 2.

◆ frame2InJoint2() [2/2]

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::frame2InJoint2 ( const Transform3s & M )

inline

Set position of frame 2 in joint 2.

◆ impl_compute()

template<int _Options>

virtual void hpp::constraints::GenericTransformation< _Options >::impl_compute	(	LiegroupElementRef	result,
		ConfigurationIn_t	argument
	)		const

protectedvirtual

Compute value of error

Parameters

argument configuration of the robot,

Return values

result error vector

◆ impl_jacobian()

template<int _Options>

virtual void hpp::constraints::GenericTransformation< _Options >::impl_jacobian	(	matrixOut_t	jacobian,
		ConfigurationIn_t	arg
	)		const

protectedvirtual

◆ init()

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::init ( const WkPtr_t & self )

inlineprotected

◆ isEqual()

template<int _Options>

bool hpp::constraints::GenericTransformation< _Options >::isEqual ( const DifferentiableFunction & other ) const

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

◆ joint1() [1/2]

template<int _Options>

JointConstPtr_t hpp::constraints::GenericTransformation< _Options >::joint1 ( ) const

inline

Get joint 1.

◆ joint1() [2/2]

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::joint1 ( const JointConstPtr_t & joint )

inline

Set joint 1.

◆ joint2() [1/2]

template<int _Options>

JointConstPtr_t hpp::constraints::GenericTransformation< _Options >::joint2 ( ) const

inline

Get joint 2.

◆ joint2() [2/2]

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::joint2 ( const JointConstPtr_t & joint )

inline

Set joint 2.

◆ print()

template<int _Options>

virtual std::ostream& hpp::constraints::GenericTransformation< _Options >::print ( std::ostream & o ) const

virtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

◆ reference() [1/2]

template<int _Options>

Transform3s hpp::constraints::GenericTransformation< _Options >::reference ( ) const

inline

Get desired relative orientation.

◆ reference() [2/2]

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::reference ( const Transform3s & reference )

inline

Set desired relative transformation of joint2 in joint1

The documentation for this class was generated from the following files:

include/hpp/constraints/fwd.hh
include/hpp/constraints/generic-transformation.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<int _Options> class hpp::constraints::GenericTransformation< _Options >

Member Typedef Documentation

◆ Ptr_t

◆ WkPtr_t

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ~GenericTransformation()

◆ GenericTransformation()

Member Function Documentation

◆ create() [1/4]

◆ create() [2/4]

◆ create() [3/4]

◆ create() [4/4]

◆ dependsOnRelPoseBetween()

◆ frame1InJoint1() [1/2]

◆ frame1InJoint1() [2/2]

◆ frame2InJoint2() [1/2]

◆ frame2InJoint2() [2/2]

◆ impl_compute()

◆ impl_jacobian()

◆ init()

◆ isEqual()

◆ joint1() [1/2]

◆ joint1() [2/2]

◆ joint2() [1/2]

◆ joint2() [2/2]

◆ print()

◆ reference() [1/2]

◆ reference() [2/2]

template<int _Options>
class hpp::constraints::GenericTransformation< _Options >