Constraint on the relative position of the center of mass. More...

#include <hpp/constraints/com-between-feet.hh>

Inheritance diagram for hpp::constraints::ComBetweenFeet:

Collaboration diagram for hpp::constraints::ComBetweenFeet:

Public Member Functions
virtual	~ComBetweenFeet () throw ()

	ComBetweenFeet (const std::string &name, const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask)

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

LiegroupElement	operator() (vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	value (LiegroupElementRef result, vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const
	Computes the jacobian. More...

const ArrayXb &	activeParameters () const
	Returns a vector of booleans that indicates whether the corresponding configuration parameter influences this constraints. More...

const ArrayXb &	activeDerivativeParameters () const
	Returns a vector of booleans that indicates whether the corresponding velocity parameter influences this constraints. More...

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

size_type	inputDerivativeSize () const
	Get dimension of input derivative vector. More...

LiegroupSpacePtr_t	outputSpace () const
	Get output element. 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...

virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream. 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
	Approximate the jacobian using forward finite difference. More...

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
	Approximate the jacobian using forward finite difference. More...

Static Public Member Functions
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ComBetweenFeetPtr_t	create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)(true))
	Return a shared pointer to a new instance. More...

static ComBetweenFeetPtr_t	create (const std::string &name, const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask=boost::assign::list_of(true)(true)(true)(true))
	Return a shared pointer to a new instance. More...

Protected Member Functions
virtual void	impl_compute (LiegroupElementRef result, ConfigurationIn_t argument) const throw ()
	Compute value of error. More...

virtual void	impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const throw ()

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

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_
	Initialized to true by this class. More...

ArrayXb	activeDerivativeParameters_
	Initialized to true by this class. More...

Detailed Description

Constraint on the relative position of the center of mass.

The value of the function is defined as the position of the center of mass in the reference frame of a joint.

\begin{eqnarray*} \mathbf{f}(\mathbf{q}) &=& \left(\begin{array}{c} ( x_{com} - x_{ref} ) \cdot u_z \\ ( R^T (e \wedge u) ) \cdot u_z \\ ( x_{com} - x_L ) \cdot (u)\\ ( x_{com} - x_R ) \cdot (u)\\ \end{array}\right) \end{eqnarray*}

where

\(\mathbf{x}_{com}\) is the position of the center of mass,
\(\mathbf{x_L}\) is the position of the left joint,
\(\mathbf{x_R}\) is the position of the right joint,
\(\mathbf{x}_{ref}\) is the desired position of the center of mass expressed in reference joint frame.
\( u = x_R - x_L \)
\( e = x_{com} - (\frac{x_L + x_R}{2})\)

Constructor & Destructor Documentation

virtual hpp::constraints::ComBetweenFeet::~ComBetweenFeet	(	)
throw	(
	)

inlinevirtual

hpp::constraints::ComBetweenFeet::ComBetweenFeet	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const CenterOfMassComputationPtr_t &	comc,
		const JointPtr_t &	jointLeft,
		const JointPtr_t &	jointRight,
		const vector3_t	pointLeft,
		const vector3_t	pointRight,
		const JointPtr_t &	jointReference,
		const vector3_t	pointRef,
		std::vector< bool >	mask
	)

Member Function Documentation

static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ComBetweenFeetPtr_t hpp::constraints::ComBetweenFeet::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointPtr_t &	jointLeft,
		const JointPtr_t &	jointRight,
		const vector3_t	pointLeft,
		const vector3_t	pointRight,
		const JointPtr_t &	jointReference,
		const vector3_t	pointRef,
		std::vector< bool >	mask = `boost::assign::list_of(true)(true)(true)(true)`
	)

static

Return a shared pointer to a new instance.

static ComBetweenFeetPtr_t hpp::constraints::ComBetweenFeet::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const CenterOfMassComputationPtr_t &	comc,
		const JointPtr_t &	jointLeft,
		const JointPtr_t &	jointRight,
		const vector3_t	pointLeft,
		const vector3_t	pointRight,
		const JointPtr_t &	jointReference,
		const vector3_t	pointRef,
		std::vector< bool >	mask = `boost::assign::list_of(true)(true)(true)(true)`
	)

static

Return a shared pointer to a new instance.

virtual void hpp::constraints::ComBetweenFeet::impl_compute	(	LiegroupElementRef	result,
		ConfigurationIn_t	argument
	)		const
throw	(
	)

protectedvirtual

Compute value of error.

Parameters

argument configuration of the robot,

Return values

result error vector

virtual void hpp::constraints::ComBetweenFeet::impl_jacobian	(	matrixOut_t	jacobian,
		ConfigurationIn_t	arg
	)		const
throw	(
	)

protectedvirtual

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation