hpp::model::AnchorJointConfig Class Reference

Configuration of a JointAnchor. More...

#include <hpp/model/joint-configuration.hh>

Inheritance diagram for hpp::model::AnchorJointConfig:

Collaboration diagram for hpp::model::AnchorJointConfig:

List of all members.

Public Member Functions
	AnchorJointConfig ()
virtual	~AnchorJointConfig ()
virtual void	interpolate (ConfigurationIn_t, ConfigurationIn_t, const value_type &, const size_type &, ConfigurationOut_t)
	Interpolate two configurations of the joint.
virtual value_type	distance (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &index) const
	Distance between two configurations of the joint.
virtual void	integrate (ConfigurationIn_t q, vectorIn_t v, const size_type &indexConfig, const size_type &indexVelocity, ConfigurationOut_t result) const
	Integrate constant derivative during unit time.
virtual void	difference (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &indexConfig, const size_type &indexVelocity, vectorOut_t result) const
	Difference between two configurations.
virtual void	uniformlySample (const size_type &index, ConfigurationOut_t result) const
	Uniformly sample the configuration space of the joint.

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Detailed Description

Configuration of a JointAnchor.

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Constructor & Destructor Documentation

hpp::model::AnchorJointConfig::AnchorJointConfig

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virtual hpp::model::AnchorJointConfig::~AnchorJointConfig

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[virtual]

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Member Function Documentation

virtual void hpp::model::AnchorJointConfig::difference	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const size_type &	indexConfig,
		const size_type &	indexVelocity,
		vectorOut_t	result
	)		const [virtual]

Difference between two configurations.

Parameters:

q1	configuration,
q2	configuration,
indexConfig	index of first component of q corresponding to the joint.
indexVelocity	index of first component of v corresponding to the joint

Return values:

result[indexVelocity:indexVelocity+nbdofs]

part of vector representing the difference between q1 and q2.

See derived classes for details

Implements hpp::model::JointConfiguration.

virtual value_type hpp::model::AnchorJointConfig::distance	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const size_type &	index
	)		const [virtual]

Distance between two configurations of the joint.

Parameters:

q1,q2	two configurations of the robot
index	index of first component of q1 and q2 corresponding to the joint.

Returns:

0

Implements hpp::model::JointConfiguration.

virtual void hpp::model::AnchorJointConfig::integrate	(	ConfigurationIn_t	q,
		vectorIn_t	v,
		const size_type &	indexConfig,
		const size_type &	indexVelocity,
		ConfigurationOut_t	result
	)		const [virtual]

Integrate constant derivative during unit time.

Parameters:

q	initial configuration
v	joint velocity
indexConfig	index of first component of q corresponding to the joint.
indexVelocity	index of first component of v corresponding to the joint

Return values:

result

write joint configuration in result [indexConfig:indexConfig + joint config size]

Note:

if result is beying bounds, return active bound.

Implements hpp::model::JointConfiguration.

virtual void hpp::model::AnchorJointConfig::interpolate	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const value_type &	u,
		const size_type &	index,
		ConfigurationOut_t	result
	)		[virtual]

Interpolate two configurations of the joint.

Parameters:

q1,q2,two	configurations to interpolate
u	in [0,1] position along the interpolation: q1 for u=0, q2 for u=1
index	index of first component of q1 and q2 corresponding to the joint.

Return values:

result

write joint configuration in result [index:index+nb dofs]

q1 and q2 are configurations of the robot where coordinates between index and index + number of dofs - 1 correspond to the configuration of the joint:

• a real value for translation joint and bounded rotation joints,
• an angle for unbounded rotation joints,
• x, y, z, roll, pitch, yaw for freeflyer joints.

Implements hpp::model::JointConfiguration.

virtual void hpp::model::AnchorJointConfig::uniformlySample	(	const size_type &	index,
		ConfigurationOut_t	result
	)		const [virtual]

Uniformly sample the configuration space of the joint.

Parameters:

index

index of first component of q corresponding to the joint.

Return values:

result

write joint configuration in result [index:index+nb dofs]

Implements hpp::model::JointConfiguration.