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

Inheritance diagram for hpp::model::SO3JointConfig:

Collaboration diagram for hpp::model::SO3JointConfig:

Public Member Functions
	SO3JointConfig ()
virtual	~SO3JointConfig ()
virtual void	interpolate (ConfigurationIn_t q1, ConfigurationIn_t q2, const value_type &u, const size_type &index, ConfigurationOut_t result)
	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.

Detailed Description

Configuration of a JointSO3.

Constructor & Destructor Documentation

hpp::model::SO3JointConfig::SO3JointConfig ( )

virtual hpp::model::SO3JointConfig::~SO3JointConfig ( ) [virtual]

Member Function Documentation

virtual void hpp::model::SO3JointConfig::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[index:index+ joint number dof] part of vector representing the difference between q1 and q2.

$\texttt{result}[\texttt{index}:\texttt{index}+3] = \textbf{q}_1[\texttt{index}:\texttt{index}+3] - \textbf{q}_2[\texttt{index}:\texttt{index}+3]$

The difference is computed as follows:

$\textbf{q}_1 [\texttt{index}+3:\texttt{index}+6] = \exp \left(\texttt{result}[\texttt{index}+3:\texttt{index}+6]_{\times} \right)\textbf{q}_2 [\texttt{index}+3:\texttt{index}+6]$

Implements hpp::model::JointConfiguration.

virtual value_type hpp::model::SO3JointConfig::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:: the angle between the joint orientations

Implements hpp::model::JointConfiguration.

virtual void hpp::model::SO3JointConfig::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::SO3JointConfig::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::SO3JointConfig::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.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation