Configuration of a Joint. More...

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

Inheritance diagram for hpp::model::JointConfiguration:

Public Member Functions
	JointConfiguration (size_type configSize)
	Constructor.
virtual	~JointConfiguration ()
	Destructor.
virtual void	interpolate (ConfigurationIn_t q1, ConfigurationIn_t q2, const value_type &u, const size_type &index, ConfigurationOut_t result)=0
	Interpolate two configurations of the joint.
virtual value_type	distance (ConfigurationIn_t q1, ConfigurationIn_t q2, const size_type &index) const =0
	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 =0
	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 =0
	Difference between two configurations.
virtual void	uniformlySample (const size_type &index, ConfigurationOut_t result) const =0
	Uniformly sample the configuration space of the joint.
Bounds
Set whether given degree of freedom is bounded
void	isBounded (size_type rank, bool bounded)
bool	isBounded (size_type rank) const
	Get whether given degree of freedom is bounded.
value_type	lowerBound (size_type rank) const
	Get lower bound of given degree of freedom.
value_type	upperBound (size_type rank) const
	Get upper bound of given degree of freedom.
void	lowerBound (size_type rank, value_type lowerBound)
	Set lower bound of given degree of freedom.
void	upperBound (size_type rank, value_type upperBound)
	Set upper bound of given degree of freedom.

Detailed Description

Configuration of a Joint.

Depending on joint type, the configuration of the joint belongs to Lie groups with different structures. This abstract class sspecifies some methods that are specific to the joint configuration space, mainly

straight interpolation
distance between configurations
sampling methods

Constructor & Destructor Documentation

hpp::model::JointConfiguration::JointConfiguration ( size_type configSize )

Constructor.

Parameters:

configSize dimension of the joint configuration size: used to resize the vector of bounds.

virtual hpp::model::JointConfiguration::~JointConfiguration ( ) [virtual]

Destructor.

Member Function Documentation

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

Implemented in hpp::model::TranslationJointConfig< dimension >, hpp::model::rotationJointConfig::Bounded, hpp::model::rotationJointConfig::UnBounded, hpp::model::RotationJointConfig, hpp::model::SO3JointConfig, and hpp::model::AnchorJointConfig.

virtual value_type hpp::model::JointConfiguration::distance	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const size_type &	index
	)		const `[pure 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.

Implemented in hpp::model::TranslationJointConfig< dimension >, hpp::model::rotationJointConfig::Bounded, hpp::model::rotationJointConfig::UnBounded, hpp::model::RotationJointConfig, hpp::model::SO3JointConfig, and hpp::model::AnchorJointConfig.

virtual void hpp::model::JointConfiguration::integrate	(	ConfigurationIn_t	q,
		vectorIn_t	v,
		const size_type &	indexConfig,
		const size_type &	indexVelocity,
		ConfigurationOut_t	result
	)		const `[pure 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.

Implemented in hpp::model::TranslationJointConfig< dimension >, hpp::model::rotationJointConfig::Bounded, hpp::model::rotationJointConfig::UnBounded, hpp::model::RotationJointConfig, hpp::model::SO3JointConfig, and hpp::model::AnchorJointConfig.

virtual void hpp::model::JointConfiguration::interpolate	(	ConfigurationIn_t	q1,
		ConfigurationIn_t	q2,
		const value_type &	u,
		const size_type &	index,
		ConfigurationOut_t	result
	)		`[pure 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.

Implemented in hpp::model::TranslationJointConfig< dimension >, hpp::model::rotationJointConfig::Bounded, hpp::model::rotationJointConfig::UnBounded, hpp::model::RotationJointConfig, hpp::model::SO3JointConfig, and hpp::model::AnchorJointConfig.

void hpp::model::JointConfiguration::isBounded	(	size_type	rank,
		bool	bounded
	)

bool hpp::model::JointConfiguration::isBounded ( size_type rank ) const

Get whether given degree of freedom is bounded.

value_type hpp::model::JointConfiguration::lowerBound ( size_type rank ) const

Get lower bound of given degree of freedom.

void hpp::model::JointConfiguration::lowerBound	(	size_type	rank,
		value_type	lowerBound
	)

Set lower bound of given degree of freedom.

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

Implemented in hpp::model::TranslationJointConfig< dimension >, hpp::model::rotationJointConfig::Bounded, hpp::model::rotationJointConfig::UnBounded, hpp::model::RotationJointConfig, hpp::model::SO3JointConfig, and hpp::model::AnchorJointConfig.

value_type hpp::model::JointConfiguration::upperBound ( size_type rank ) const

Get upper bound of given degree of freedom.

void hpp::model::JointConfiguration::upperBound	(	size_type	rank,
		value_type	upperBound
	)

Set upper bound of given degree of freedom.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation