CjrlGikPointingConstraint Class Reference

Constraint on a line segment attached to a body to be aligned with a given point in the world frame. More...

#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlGikPointingConstraint.h>

Inheritance diagram for CjrlGikPointingConstraint:

Collaboration diagram for CjrlGikPointingConstraint:

Public Member Functions
virtual void	localOrigin (const vector3d &inPoint)=0
	Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint).
virtual const vector3d &	localOrigin ()=0
	Get the origin of the pointing vector.
virtual void	localVector (const vector3d &inPoint)=0
	Set the pointing vector in joint's local frame (illelgal operation for gaze constraint).
virtual const vector3d &	localVector ()=0
	Set the pointing vector in joint's local frame.
virtual void	worldTarget (const vector3d &inPoint)=0
	Set the target point associated to the constraint (in world's frame).
virtual const vector3d &	worldTarget ()=0
	Get the target point associated to the constraint (in world's frame).
Public Member Functions inherited from CjrlGikJointStateConstraint
virtual void	joint (CjrlJoint *inJoint)=0
	Set the joint associated to the constraint.
virtual CjrlJoint *	joint ()=0
	Get the joint associated to the constraint.
Public Member Functions inherited from CjrlGikStateConstraint
virtual CjrlGikStateConstraint *	clone () const =0
	Copy constructor.
virtual CjrlDynamicRobot &	robot ()=0
	Get associated robot.
virtual void	jacobianRoot (CjrlJoint &inJoint)=0
	Select the joint in the robot that serves as root for computation of jacobians.
virtual vectorN &	influencingDofs ()=0
	Get the influencing dofs vector which is a binary vector whose size matches the robot cnfiguration's, where an element with value 1 indicates that the corresponding degree of freedom can modify the value of this constraint and an element with value 0 cannot.
virtual void	computeInfluencingDofs ()=0
	Compute the influencing dofs vector.
virtual void	computeValue ()=0
	Compute the value of the constraint.
virtual void	computeJacobian ()=0
	Compute the Jacobian of the constraint with respect to the internal degrees of freedom and to a selected root joint (see method CjrlGikStateConstraint::jacobianRoot()).
Public Member Functions inherited from CjrlLinearConstraint
virtual unsigned int	dimension () const =0
	Get the dimension of the constraint.
virtual const vectorN &	value ()=0
	Get the constraint value.
virtual const matrixNxP &	jacobian ()=0
	Get the constraint Jacobian.
virtual	~CjrlLinearConstraint ()
	Destructor.

Detailed Description

Constraint on a line segment attached to a body to be aligned with a given point in the world frame.

The line segment is defined by an origin point and a vector both given in the body's local frame.

Member Function Documentation

localOrigin() [1/2]

virtual const vector3d & CjrlGikPointingConstraint::localOrigin ( )

pure virtual

Get the origin of the pointing vector.

localOrigin() [2/2]

virtual void CjrlGikPointingConstraint::localOrigin ( const vector3d & inPoint )

pure virtual

Set the origin of the pointing vector in joint's local frame (illelgal operation for gaze constraint).

Implemented in CjrlGikGazeConstraint.

localVector() [1/2]

virtual const vector3d & CjrlGikPointingConstraint::localVector ( )

pure virtual

Set the pointing vector in joint's local frame.

localVector() [2/2]

virtual void CjrlGikPointingConstraint::localVector ( const vector3d & inPoint )

pure virtual

Set the pointing vector in joint's local frame (illelgal operation for gaze constraint).

Implemented in CjrlGikGazeConstraint.

worldTarget() [1/2]

virtual const vector3d & CjrlGikPointingConstraint::worldTarget ( )

pure virtual

Get the target point associated to the constraint (in world's frame).

worldTarget() [2/2]

virtual void CjrlGikPointingConstraint::worldTarget ( const vector3d & inPoint )

pure virtual

Set the target point associated to the constraint (in world's frame).