GenericTransformation class encapsulates 6 possible differentiable functions: Position, Orientation, Transformation and their relative versions RelativePosition, RelativeOrientation, RelativeTransformation. More...

#include <hpp/constraints/generic-transformation.hh>

Inheritance diagram for hpp::constraints::GenericTransformation< _Options >:

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Collaboration diagram for hpp::constraints::GenericTransformation< _Options >:

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Public Types
enum	{ IsRelative = _Options & RelativeBit, ComputeOrientation = _Options & OrientationBit, ComputePosition = _Options & PositionBit, OutputSE3 = _Options & OutputSE3Bit, IsPosition = ComputePosition && !ComputeOrientation, IsOrientation = !ComputePosition && ComputeOrientation, IsTransform = ComputePosition && ComputeOrientation, ValueSize = (ComputePosition?3:0) + (ComputeOrientation?(OutputSE3?4:3):0), DerSize = (ComputePosition?3:0) + (ComputeOrientation ?3:0) }

typedef boost::shared_ptr< GenericTransformation >	Ptr_t

typedef boost::weak_ptr< GenericTransformation >	WkPtr_t

Public Member Functions
virtual	~GenericTransformation ()

void	reference (const Transform3f &reference)
	Set desired relative transformation of joint2 in joint1. More...

Transform3f	reference () const
	Get desired relative orientation. More...

void	joint1 (const JointConstPtr_t &joint)
	Set joint 1. More...

JointConstPtr_t	joint1 () const
	Get joint 1. More...

void	joint2 (const JointConstPtr_t &joint)
	Set joint 2. More...

JointConstPtr_t	joint2 () const
	Get joint 2. More...

void	frame1InJoint1 (const Transform3f &M)
	Set position of frame 1 in joint 1. More...

const Transform3f &	frame1InJoint1 () const
	Get position of frame 1 in joint 1. More...

void	frame2InJoint2 (const Transform3f &M)
	Set position of frame 2 in joint 2. More...

const Transform3f &	frame2InJoint2 () const
	Get position of frame 2 in joint 2. More...

virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream. More...

	GenericTransformation (const std::string &name, const DevicePtr_t &robot, std::vector< bool > mask)
	Constructor. More...

Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()

LiegroupElement	operator() (vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	value (LiegroupElementRef result, vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const
	Computes the jacobian. More...

const ArrayXb &	activeParameters () const
	Returns a vector of booleans that indicates whether the corresponding configuration parameter influences this constraints. More...

const ArrayXb &	activeDerivativeParameters () const
	Returns a vector of booleans that indicates whether the corresponding velocity parameter influences this constraints. More...

size_type	inputSize () const
	Get dimension of input vector. More...

size_type	inputDerivativeSize () const
	Get dimension of input derivative vector. More...

LiegroupSpacePtr_t	outputSpace () const
	Get output element. More...

size_type	outputSize () const
	Get dimension of output vector. More...

size_type	outputDerivativeSize () const
	Get dimension of output derivative vector. More...

const std::string &	name () const
	Get function name. More...

std::string	context () const

void	context (const std::string &c)

void	finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
	Approximate the jacobian using forward finite difference. More...

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
	Approximate the jacobian using forward finite difference. More...

Static Public Member Functions
static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint2, const Transform3f &reference, std::vector< bool > mask=std::vector< bool >(DerSize, true))
	Object builder for absolute functions. More...

static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint2, const Transform3f &frame2, const Transform3f &frame1, std::vector< bool > mask=std::vector< bool >(DerSize, true))
	Object builder for absolute functions. More...

static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3f &reference, std::vector< bool > mask=std::vector< bool >(DerSize, true))
	Object builder for relative functions. More...

static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3f &frame1, const Transform3f &frame2, std::vector< bool > mask=std::vector< bool >(DerSize, true))
	Object builder for relative functions. More...

Protected Member Functions
void	init (const WkPtr_t &self)

virtual void	impl_compute (LiegroupElementRef result, ConfigurationIn_t argument) const throw ()
	Compute value of error. More...

virtual void	impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const throw ()

Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation. More...

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
	Dimension of input vector. More...

size_type	inputDerivativeSize_
	Dimension of input derivative. More...

LiegroupSpacePtr_t	outputSpace_
	Dimension of output vector. More...

ArrayXb	activeParameters_
	Initialized to true by this class. More...

ArrayXb	activeDerivativeParameters_
	Initialized to true by this class. More...

Detailed Description

template<int _Options>
class hpp::constraints::GenericTransformation< _Options >

GenericTransformation class encapsulates 6 possible differentiable functions: Position, Orientation, Transformation and their relative versions RelativePosition, RelativeOrientation, RelativeTransformation.

These functions compute the position of frame GenericTransformation::frame2InJoint2 in joint GenericTransformation::joint2 frame, in the frame GenericTransformation::frame1InJoint1 in GenericTransformation::joint1 frame. For absolute functions, GenericTransformation::joint1 is NULL and joint1 frame is the world frame.

The value of the RelativeTransformation function is a 6-dimensional vector. The 3 first coordinates are the position of the center of the second frame expressed in the first frame. The 3 last coordinates are the log of the orientation of frame 2 in frame 1.

\begin{equation*} f (\mathbf{q}) = \left(\begin{array}{c} \mathbf{translation}\left(T_{1/J_1}^T T_1^T T_2 T_{2/J_2}\right)\\ \log \left((R_1 R_{1/J_1})^T R_2 R_{2/J_2}\right) \end{array}\right) \end{equation*}

The Jacobian is given by

\begin{equation*} \left(\begin{array}{c} (R_1 R_{1/J_1})^T \left(\left[R_2 t_{2/J_2} + t_2 - t_1\right]_{\times} R_1 J_{1\,\omega} - \left[R_2 t_{2/J_2}\right]_{\times} R_2 J_{2\,\omega} + R_2 J_{2\,\mathbf{v}} - R_1 J_{1\,\mathbf{v}}\right) \\ J_{log}\left((R_1 R_{1/J_1})^T R_2 R_{2/J_2}\right)(R_1 R_{1/J_1})^T (R_2 J_{2\,\omega} - R_1 J_{1\,\omega}) \end{array}\right) \end{equation*}

Member Typedef Documentation

template<int _Options>

typedef boost::shared_ptr<GenericTransformation> hpp::constraints::GenericTransformation< _Options >::Ptr_t

template<int _Options>

typedef boost::weak_ptr<GenericTransformation> hpp::constraints::GenericTransformation< _Options >::WkPtr_t

Member Enumeration Documentation

template<int _Options>

anonymous enum

Enumerator
IsRelative
ComputeOrientation
ComputePosition
OutputSE3
IsPosition
IsOrientation
IsTransform
ValueSize
DerSize

Constructor & Destructor Documentation

template<int _Options>

virtual hpp::constraints::GenericTransformation< _Options >::~GenericTransformation ( )

inlinevirtual

template<int _Options>

hpp::constraints::GenericTransformation< _Options >::GenericTransformation	(	const std::string &	name,
		const DevicePtr_t &	robot,
		std::vector< bool >	mask
	)

Constructor.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to, \(T_1(\mathbf{q})^{-1} T_2(\mathbf{q})\) between the joints.
mask	vector of 6 boolean defining which coordinates of the error vector to take into account.

Member Function Documentation

template<int _Options>

static Ptr_t hpp::constraints::GenericTransformation< _Options >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint2,
		const Transform3f &	reference,
		std::vector< bool >	mask = `std::vector< bool >(DerSize, true)`
	)

static

Object builder for absolute functions.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint2	the second joint the transformation of which is constrained,
reference	desired relative transformation \(T_2(\mathbf{q})\) between the joints.
mask	which component of the error vector to take into account.

template<int _Options>

static Ptr_t hpp::constraints::GenericTransformation< _Options >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint2,
		const Transform3f &	frame2,
		const Transform3f &	frame1,
		std::vector< bool >	mask = `std::vector< bool >(DerSize, true)`
	)

static

Object builder for absolute functions.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint2	the second joint the transformation of which is constrained,
frame2	position of a fixed frame in joint 2,
frame1	position of a fixed frame in the world,
mask	vector of 6 boolean defining which coordinates of the error vector to take into account.

Note: For Position, the rotation part of frame1 defines the frame in which the error is expressed and the rotation of frame2 has no effect.

template<int _Options>

static Ptr_t hpp::constraints::GenericTransformation< _Options >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint1,
		const JointConstPtr_t &	joint2,
		const Transform3f &	reference,
		std::vector< bool >	mask = `std::vector< bool >(DerSize, true)`
	)

static

Object builder for relative functions.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint1	the first joint the transformation of which is constrained,
joint2	the second joint the transformation of which is constrained,
reference	desired relative transformation \(T_1(\mathbf{q})^{-1} T_2(\mathbf{q})\) between the joints.
mask	which component of the error vector to take into account.

template<int _Options>

static Ptr_t hpp::constraints::GenericTransformation< _Options >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint1,
		const JointConstPtr_t &	joint2,
		const Transform3f &	frame1,
		const Transform3f &	frame2,
		std::vector< bool >	mask = `std::vector< bool >(DerSize, true)`
	)

static

Object builder for relative functions.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint1	the first joint the transformation of which is constrained,
joint2	the second joint the transformation of which is constrained,
frame1	position of a fixed frame in joint 1,
frame2	position of a fixed frame in joint 2,
mask	vector of 6 boolean defining which coordinates of the error vector to take into account.

Note: if joint1 is 0x0, joint 1 frame is considered to be the global frame.; For RelativePosition, the rotation part of frame1 defines the frame in which the error is expressed and the rotation of frame2 has no effect.

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::frame1InJoint1 ( const Transform3f & M )

inline

Set position of frame 1 in joint 1.

template<int _Options>

const Transform3f& hpp::constraints::GenericTransformation< _Options >::frame1InJoint1 ( ) const

inline

Get position of frame 1 in joint 1.

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::frame2InJoint2 ( const Transform3f & M )

inline

Set position of frame 2 in joint 2.

template<int _Options>

const Transform3f& hpp::constraints::GenericTransformation< _Options >::frame2InJoint2 ( ) const

inline

Get position of frame 2 in joint 2.

template<int _Options>

virtual void hpp::constraints::GenericTransformation< _Options >::impl_compute	(	LiegroupElementRef	result,
		ConfigurationIn_t	argument
	)		const
throw	(
	)

protectedvirtual

Compute value of error.

Parameters

argument configuration of the robot,

Return values

result error vector

template<int _Options>

virtual void hpp::constraints::GenericTransformation< _Options >::impl_jacobian	(	matrixOut_t	jacobian,
		ConfigurationIn_t	arg
	)		const
throw	(
	)

protectedvirtual

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::init ( const WkPtr_t & self )

inlineprotected

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::joint1 ( const JointConstPtr_t & joint )

inline

Set joint 1.

References Eigen::assert().

template<int _Options>

JointConstPtr_t hpp::constraints::GenericTransformation< _Options >::joint1 ( ) const

inline

Get joint 1.

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::joint2 ( const JointConstPtr_t & joint )

inline

Set joint 2.

References Eigen::assert().

template<int _Options>

JointConstPtr_t hpp::constraints::GenericTransformation< _Options >::joint2 ( ) const

inline

Get joint 2.

template<int _Options>

virtual std::ostream& hpp::constraints::GenericTransformation< _Options >::print ( std::ostream & o ) const

virtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

template<int _Options>

void hpp::constraints::GenericTransformation< _Options >::reference ( const Transform3f & reference )

inline

Set desired relative transformation of joint2 in joint1.

template<int _Options>

Transform3f hpp::constraints::GenericTransformation< _Options >::reference ( ) const

inline

Get desired relative orientation.

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<int _Options> class hpp::constraints::GenericTransformation< _Options >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<int _Options>
class hpp::constraints::GenericTransformation< _Options >