#include <hpp/constraints/locked-joint.hh>

Inheritance diagram for hpp::constraints::LockedJoint:

Collaboration diagram for hpp::constraints::LockedJoint:

Public Member Functions
virtual ImplicitPtr_t	copy () const
	Copy object and return shared pointer to copy. More...

size_type	rankInConfiguration () const
	Get index of locked degree of freedom in robot configuration vector. More...

size_type	rankInVelocity () const
	Get index of locked degree of freedom in robot velocity vector. More...

size_type	configSize () const
	Get the configuration size of the joint. More...

size_type	numberDof () const
	Get number of degrees of freedom of the joint. More...

const LiegroupSpacePtr_t &	configSpace () const
	Get configuration space of locked joint. More...

vectorIn_t	value () const
	Get the value of the locked joint. More...

void	value (vectorIn_t value)
	Set the value of the locked joint. More...

const JointPtr_t &	joint ()
	Return shared pointer to joint. More...

const std::string &	jointName () const
	Return the joint name. More...

std::ostream &	print (std::ostream &os) const
	Print object in a stream. More...

virtual std::pair< JointConstPtr_t, JointConstPtr_t >	doesConstrainRelPoseBetween (DeviceConstPtr_t robot) const

Public Member Functions inherited from hpp::constraints::Explicit
DifferentiableFunctionPtr_t	explicitFunction () const

const segments_t &	outputConf () const
	Get output configuration variables. More...

const segments_t &	outputVelocity () const
	Get output degrees of freedom. More...

const segments_t &	inputConf () const
	Get input configuration variables. More...

const segments_t &	inputVelocity () const
	Get input degrees of freedom. More...

virtual void	outputValue (LiegroupElementRef result, vectorIn_t qin, LiegroupElementConstRef rhs) const

virtual void	jacobianOutputValue (vectorIn_t qin, LiegroupElementConstRef g_value, LiegroupElementConstRef rhs, matrixOut_t jacobian) const

Public Member Functions inherited from hpp::constraints::Implicit
bool	operator== (const Implicit &other) const
	Operator equality. More...

Implicit &	operator= (const Implicit &other)
	Operator assignation. More...

virtual	~Implicit ()

const ComparisonTypes_t &	comparisonType () const
	Return the ComparisonType. More...

void	comparisonType (const ComparisonTypes_t &comp)
	Set the comparison type. More...

const segments_t &	activeRows () const

bool	checkAllRowsActive () const
	Check if all rows are active (no inactive rows) More...

const Eigen::RowBlockIndices &	equalityIndices () const
	Get indices of constraint coordinates that are equality. More...

void	setInactiveRowsToZero (vectorOut_t error) const

DifferentiableFunction &	function () const
	Return a reference to function \(h\). More...

const DifferentiableFunctionPtr_t &	functionPtr () const
	Return a reference to function \(h\). More...

void	rightHandSideFromConfig (ConfigurationIn_t config, LiegroupElementRef rhs)

bool	checkRightHandSide (LiegroupElementConstRef rhs) const

size_type	parameterSize () const

size_type	rightHandSideSize () const

void	rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF)

const DifferentiableFunctionPtr_t &	rightHandSideFunction () const

vectorIn_t	rightHandSideAt (const value_type &s)

Static Public Member Functions
static LockedJointPtr_t	create (const JointPtr_t &joint, const LiegroupElement &value)

static LockedJointPtr_t	create (const JointPtr_t &joint, const size_type index, vectorIn_t value)

static LockedJointPtr_t	create (const DevicePtr_t &dev, const size_type index, vectorIn_t value)

static LockedJointPtr_t	createCopy (LockedJointConstPtr_t other)

Static Public Member Functions inherited from hpp::constraints::Explicit
static ExplicitPtr_t	create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t(), std::vector< bool > mask=std::vector< bool >())

static ExplicitPtr_t	createCopy (const ExplicitPtr_t &other)
	Create a copy and return shared pointer. More...

Static Public Member Functions inherited from hpp::constraints::Implicit
static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >())

static ImplicitPtr_t	createCopy (const ImplicitPtr_t &other)
	Create a copy and return shared pointer. More...

Protected Member Functions
	LockedJoint (const JointPtr_t &joint, const LiegroupElement &value)

	LockedJoint (const JointPtr_t &joint, const size_type index, vectorIn_t value)

	LockedJoint (const DevicePtr_t &robot, const size_type index, vectorIn_t value)

	LockedJoint (const LockedJoint &other)
	Copy constructor. More...

virtual bool	isEqual (const Implicit &other, bool swapAndTest) const

void	init (const LockedJointPtr_t &self)

Protected Member Functions inherited from hpp::constraints::Explicit
	Explicit (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask)

	Explicit (const DifferentiableFunctionPtr_t &implicitFunction, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask)
	(const LiegroupSpacePtr_t&, const More...

	Explicit (const Explicit &other)
	Copy constructor. More...

void	init (const ExplicitWkPtr_t &weak)

	Explicit ()

Protected Member Functions inherited from hpp::constraints::Implicit
	Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask)

	Implicit (const Implicit &other)
	Copy constructor. More...

void	init (const ImplicitWkPtr_t &weak)

	Implicit ()

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::Explicit
DifferentiableFunctionPtr_t	inputToOutput_

segments_t	inputConf_

segments_t	outputConf_

segments_t	inputVelocity_

segments_t	outputVelocity_

Detailed Description

Implementation of constraint specific to a locked joint.

The implicit formulation as defined in class Implicit is given by

\begin{equation} h (\mathbf{q}) = q_{out} - value \end{equation}

where \(value\) is an element of the configuration space of the locked joint passed to method create.

Note that \(h\) takes values in \(\mathbf{R}^{nv}\) where \(nv\) is the dimension of the joint tangent space.

The explicit formulation is given by

\begin{equation} q_{out} = value + rhs \end{equation}

where coordinates of \(rhs\) corresponding to comparison types different from Equality are set to 0.

As such, the relation between the explicit formulation and the implicit formulation is the default one.

Constructor & Destructor Documentation

◆ LockedJoint() [1/4]

hpp::constraints::LockedJoint::LockedJoint	(	const JointPtr_t &	joint,
		const LiegroupElement &	value
	)

protected

Constructor

Parameters

joint	joint that is locked,
value	of the constant joint config,

◆ LockedJoint() [2/4]

hpp::constraints::LockedJoint::LockedJoint	(	const JointPtr_t &	joint,
		const size_type	index,
		vectorIn_t	value
	)

protected

Constructor of partial locked joint

Parameters

joint	joint that is locked,
index	first locked degree of freedom in the joint,
value	of the constant joint partial config, size of value determines the number of degrees of freedom locked.

Note: valid only for translation joints.

◆ LockedJoint() [3/4]

hpp::constraints::LockedJoint::LockedJoint	(	const DevicePtr_t &	robot,
		const size_type	index,
		vectorIn_t	value
	)

protected

Constructor of locked degrees of freedom of extra config space

Parameters

robot	robot
index	index of the first locked extra degree of freedom,
value	of the locked degrees of freedom, size of value determines the number of degrees of freedom locked.

◆ LockedJoint() [4/4]

hpp::constraints::LockedJoint::LockedJoint ( const LockedJoint & other )

protected

Copy constructor.

Member Function Documentation

◆ configSize()

size_type hpp::constraints::LockedJoint::configSize ( ) const

Get the configuration size of the joint.

◆ configSpace()

const LiegroupSpacePtr_t& hpp::constraints::LockedJoint::configSpace ( ) const

Get configuration space of locked joint.

◆ copy()

virtual ImplicitPtr_t hpp::constraints::LockedJoint::copy ( ) const

virtual

Copy object and return shared pointer to copy.

Reimplemented from hpp::constraints::Explicit.

◆ create() [1/3]

static LockedJointPtr_t hpp::constraints::LockedJoint::create	(	const DevicePtr_t &	dev,
		const size_type	index,
		vectorIn_t	value
	)

static

Create locked degrees of freedom of extra config space

Parameters

dev	robot
index	index of the first locked extra degree of freedom,
value	of the locked degrees of freedom, size of value determines the number of degrees of freedom locked.

◆ create() [2/3]

static LockedJointPtr_t hpp::constraints::LockedJoint::create	(	const JointPtr_t &	joint,
		const LiegroupElement &	value
	)

static

Create locked joint and return shared pointer

Parameters

joint	joint that is locked,
value	of the constant joint config,

◆ create() [3/3]

static LockedJointPtr_t hpp::constraints::LockedJoint::create	(	const JointPtr_t &	joint,
		const size_type	index,
		vectorIn_t	value
	)

static

Create partial locked joint (only some degrees of freedom)

Parameters

joint	joint that is locked,
index	first locked degree of freedom in the joint,
value	of the constant joint partial config, size of value determines the number of degrees of freedom locked.

Note: valid only for translation joints.

◆ createCopy()

static LockedJointPtr_t hpp::constraints::LockedJoint::createCopy ( LockedJointConstPtr_t other )

static

Return shared pointer to copy

Parameters

other instance to copy.

◆ doesConstrainRelPoseBetween()

virtual std::pair<JointConstPtr_t, JointConstPtr_t> hpp::constraints::LockedJoint::doesConstrainRelPoseBetween ( DeviceConstPtr_t robot ) const

virtual

Get pair of joints whose relative pose is fully constrained

Parameters

robot the device that this constraint is applied to

Returns: pair of pointers to the parent joint and the locked joint, arranged in order of increasing joint index

Note: absolute pose is considered relative pose with respect to "universe". "universe" is returned as a nullpointer as the first element of the pair, if applicable.

Reimplemented from hpp::constraints::Implicit.

◆ init()

void hpp::constraints::LockedJoint::init ( const LockedJointPtr_t & self )

protected

◆ isEqual()

virtual bool hpp::constraints::LockedJoint::isEqual	(	const Implicit &	other,
		bool	swapAndTest
	)		const

protectedvirtual

Test equality with other instance

Parameters

other	object to copy
swapAndTest	whether we should also check other == this

Reimplemented from hpp::constraints::Explicit.

◆ joint()

const JointPtr_t& hpp::constraints::LockedJoint::joint ( )

inline

Return shared pointer to joint.

◆ jointName()

const std::string& hpp::constraints::LockedJoint::jointName ( ) const

inline

Return the joint name.

◆ numberDof()

size_type hpp::constraints::LockedJoint::numberDof ( ) const

Get number of degrees of freedom of the joint.

◆ print()

std::ostream& hpp::constraints::LockedJoint::print ( std::ostream & os ) const

Print object in a stream.

◆ rankInConfiguration()

size_type hpp::constraints::LockedJoint::rankInConfiguration ( ) const

Get index of locked degree of freedom in robot configuration vector.

◆ rankInVelocity()

size_type hpp::constraints::LockedJoint::rankInVelocity ( ) const

Get index of locked degree of freedom in robot velocity vector.

◆ value() [1/2]

vectorIn_t hpp::constraints::LockedJoint::value ( ) const

Get the value of the locked joint.

◆ value() [2/2]

void hpp::constraints::LockedJoint::value ( vectorIn_t value )

Set the value of the locked joint.

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

include/hpp/constraints/locked-joint.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LockedJoint() [1/4]

◆ LockedJoint() [2/4]

◆ LockedJoint() [3/4]

◆ LockedJoint() [4/4]

Member Function Documentation

◆ configSize()

◆ configSpace()

◆ copy()

◆ create() [1/3]

◆ create() [2/3]

◆ create() [3/3]

◆ createCopy()

◆ doesConstrainRelPoseBetween()

◆ init()

◆ isEqual()

◆ joint()

◆ jointName()

◆ numberDof()

◆ print()

◆ rankInConfiguration()

◆ rankInVelocity()

◆ value() [1/2]

◆ value() [2/2]