Set of constraints applicable to a robot configuration. More...

#include <hpp/core/constraint-set.hh>

Inheritance diagram for hpp::core::ConstraintSet:

Collaboration diagram for hpp::core::ConstraintSet:

Public Member Functions
virtual ConstraintPtr_t	copy () const
	return shared pointer to copy More...

void	addConstraint (const ConstraintPtr_t &constraint)
	Add a constraint to the set. More...

ConfigProjectorPtr_t	configProjector () const
	Return pointer to config projector if any. More...

Constraints_t::iterator	begin ()
	Iterator over the constraints. More...

Constraints_t::iterator	end ()
	Iterator over the constraints. More...

virtual bool	isSatisfied (ConfigurationIn_t config)
	Check whether a configuration statisfies the constraint. More...

virtual bool	isSatisfied (ConfigurationIn_t config, vector_t &error)
	Check whether a configuration satisfies the constraint. More...

Compression of locked degrees of freedom
Degrees of freedom related to locked joint are not taken into account in numerical constraint resolution. The following methods Compress or uncompress vectors or matrices by removing lines and columns corresponding to locked degrees of freedom.
size_type	numberNonLockedDof () const
	Get number of non-locked degrees of freedom. More...

void	compressVector (vectorIn_t normal, vectorOut_t small) const
	Compress Velocity vector by removing locked degrees of freedom. More...

void	uncompressVector (vectorIn_t small, vectorOut_t normal) const
	Expand compressed velocity vector. More...

void	compressMatrix (matrixIn_t normal, matrixOut_t small, bool rows=true) const
	Compress matrix. More...

void	uncompressMatrix (matrixIn_t small, matrixOut_t normal, bool rows=true) const
	Uncompress matrix. More...

Public Member Functions inherited from hpp::core::Constraint
bool	apply (ConfigurationOut_t configuration)
	Function that applies the constraint. More...

const std::string &	name () const
	Get name of constraint. More...

virtual	~Constraint ()

Static Public Member Functions
static ConstraintSetPtr_t	create (const DevicePtr_t &robot, const std::string &name)
	Return shared pointer to new object. More...

static ConstraintSetPtr_t	createCopy (const ConstraintSetPtr_t &cs)
	Return shared pointer to new object. More...

Protected Member Functions
	ConstraintSet (const DevicePtr_t &robot, const std::string &name)

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

void	init (const ConstraintSetPtr_t &self)
	Store weak pointer to itself. More...

virtual bool	impl_compute (ConfigurationOut_t configuration)
	User defined implementation of the constraint. More...

virtual std::ostream &	print (std::ostream &os) const

Protected Member Functions inherited from hpp::core::Constraint
	Constraint (const std::string &name)
	Constructor. More...

	Constraint (const Constraint &constraint)

void	init (const ConstraintPtr_t &self)
	Store shared pointer to itself. More...

Detailed Description

Set of constraints applicable to a robot configuration.

Warning: If the set is to contain a ConfigProjector and several LockedJoint instances, the configProjector should be inserted first since following numerical projections might affect locked degrees of freedom.

Constructor & Destructor Documentation

◆ ConstraintSet() [1/2]

hpp::core::ConstraintSet::ConstraintSet	(	const DevicePtr_t &	robot,
		const std::string &	name
	)

protected

◆ ConstraintSet() [2/2]

hpp::core::ConstraintSet::ConstraintSet ( const ConstraintSet & other )

protected

Copy constructor.

Member Function Documentation

◆ addConstraint()

void hpp::core::ConstraintSet::addConstraint ( const ConstraintPtr_t & constraint )

inline

Add a constraint to the set.

◆ begin()

Constraints_t::iterator hpp::core::ConstraintSet::begin ( )

inline

Iterator over the constraints.

◆ compressMatrix()

void hpp::core::ConstraintSet::compressMatrix	(	matrixIn_t	normal,
		matrixOut_t	small,
		bool	rows = `true`
	)		const

Compress matrix.

Parameters

normal input matrix

Return values

small compressed matrix

Parameters

rows	whether to compress rows and colums or only columns

◆ compressVector()

void hpp::core::ConstraintSet::compressVector	(	vectorIn_t	normal,
		vectorOut_t	small
	)		const

Compress Velocity vector by removing locked degrees of freedom.

Parameters

normal input velocity vector

Return values

small compressed velocity vectors

◆ configProjector()

ConfigProjectorPtr_t hpp::core::ConstraintSet::configProjector ( ) const

Return pointer to config projector if any.

◆ copy()

virtual ConstraintPtr_t hpp::core::ConstraintSet::copy ( ) const

virtual

return shared pointer to copy

Implements hpp::core::Constraint.

◆ create()

static ConstraintSetPtr_t hpp::core::ConstraintSet::create	(	const DevicePtr_t &	robot,
		const std::string &	name
	)

inlinestatic

Return shared pointer to new object.

References init().

◆ createCopy()

static ConstraintSetPtr_t hpp::core::ConstraintSet::createCopy ( const ConstraintSetPtr_t & cs )

inlinestatic

Return shared pointer to new object.

References init().

◆ end()

Constraints_t::iterator hpp::core::ConstraintSet::end ( )

inline

Iterator over the constraints.

◆ impl_compute()

virtual bool hpp::core::ConstraintSet::impl_compute ( ConfigurationOut_t configuration )

protectedvirtual

User defined implementation of the constraint.

Implements hpp::core::Constraint.

◆ init()

void hpp::core::ConstraintSet::init ( const ConstraintSetPtr_t & self )

inlineprotected

Store weak pointer to itself.

References hpp::core::Constraint::init().

Referenced by create(), and createCopy().

◆ isSatisfied() [1/2]

virtual bool hpp::core::ConstraintSet::isSatisfied ( ConfigurationIn_t config )

virtual

Check whether a configuration statisfies the constraint.

Implements hpp::core::Constraint.

◆ isSatisfied() [2/2]

virtual bool hpp::core::ConstraintSet::isSatisfied	(	ConfigurationIn_t	config,
		vector_t &	error
	)

virtual

Check whether a configuration satisfies the constraint.

Parameters

config the configuration to check

Return values

error concatenation of errors of each constraint.

Implements hpp::core::Constraint.

◆ numberNonLockedDof()

size_type hpp::core::ConstraintSet::numberNonLockedDof ( ) const

Get number of non-locked degrees of freedom.

◆ print()

virtual std::ostream& hpp::core::ConstraintSet::print ( std::ostream & os ) const

protectedvirtual

Implements hpp::core::Constraint.

◆ uncompressMatrix()

void hpp::core::ConstraintSet::uncompressMatrix	(	matrixIn_t	small,
		matrixOut_t	normal,
		bool	rows = `true`
	)		const

Uncompress matrix.

Parameters

small input matrix

Return values

normal uncompressed matrix

Parameters

rows	whether to uncompress rows and colums or only columns

◆ uncompressVector()

void hpp::core::ConstraintSet::uncompressVector	(	vectorIn_t	small,
		vectorOut_t	normal
	)		const

Expand compressed velocity vector.

Parameters

small compressed velocity vector without locked degrees of freedom,

Return values

normal uncompressed velocity vector.

Note: locked degree of freedom are not set. They should be initialized to zero.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ConstraintSet() [1/2]

◆ ConstraintSet() [2/2]

Member Function Documentation

◆ addConstraint()

◆ begin()

◆ compressMatrix()

◆ compressVector()

◆ configProjector()

◆ copy()

◆ create()

◆ createCopy()

◆ end()

◆ impl_compute()

◆ init()

◆ isSatisfied() [1/2]

◆ isSatisfied() [2/2]

◆ numberNonLockedDof()

◆ print()

◆ uncompressMatrix()

◆ uncompressVector()