Implementation of constraint specific to locked joint. More...

#include <hpp/constraints/locked-joint.hh>

Inheritance diagram for hpp::constraints::LockedJoint:

Collaboration diagram for hpp::constraints::LockedJoint:

Public Member Functions
virtual ImplicitPtr_t	copy () const
	Copy object and return shared pointer to copy. More...

size_type	rankInConfiguration () const
	Get index of locked degree of freedom in robot configuration vector. More...

size_type	rankInVelocity () const
	Get index of locked degree of freedom in robot velocity vector. More...

size_type	configSize () const
	Get the configuration size of the joint. More...

size_type	numberDof () const
	Get number of degrees of freedom of the joint. More...

const LiegroupSpacePtr_t &	configSpace () const
	Get configuration space of locked joint. More...

vectorIn_t	value () const
	Get the value of the locked joint. More...

void	value (vectorIn_t value)
	Set the value of the locked joint. More...

void	rightHandSideFromConfig (ConfigurationIn_t config)
	Set the value of the locked joint from a configuration. More...

const JointPtr_t &	joint ()
	Return shared pointer to joint. More...

const std::string &	jointName () const
	Return the joint name. More...

std::ostream &	print (std::ostream &os) const
	Print object in a stream. More...

Public Member Functions inherited from hpp::constraints::Explicit
virtual DifferentiableFunctionPtr_t	explicitFunction () const
	Function that maps input to output. More...

const segments_t &	outputConf () const
	Get output configuration variables. More...

const segments_t &	outputVelocity () const
	Get output degrees of freedom. More...

const segments_t &	inputConf () const
	Get input configuration variables. More...

const segments_t &	inputVelocity () const
	Get input degrees of freedom. More...

virtual void	implicitToExplicitRhs (vectorIn_t implicitRhs, vectorOut_t explicitRhs)
	Convert right hand side. More...

Public Member Functions inherited from hpp::constraints::Implicit
bool	operator== (const Implicit &other) const
	Operator equality. More...

virtual	~Implicit ()

DifferentiableFunction &	function () const
	Return a reference to function \(h\). More...

const DifferentiableFunctionPtr_t &	functionPtr () const
	Return a reference to function \(h\). More...

void	rightHandSideFromConfig (ConfigurationIn_t config)
	Set the right hand side from a configuration. More...

void	rightHandSide (vectorIn_t rhs)
	Set the right hand side of the equation. More...

vectorIn_t	rightHandSide () const
	Return the right hand side of the equation. More...

size_type	rhsSize () const HPP_CONSTRAINTS_DEPRECATED
	Return the dimension of the left hand side function tangent output space. More...

size_type	parameterSize () const
	Get size of parameter defining the right hand side of the constraint. More...

size_type	rightHandSideSize () const
	Get size of right hand side of the constraint. More...

const ComparisonTypes_t &	comparisonType () const
	Return the ComparisonType. More...

void	comparisonType (const ComparisonTypes_t &comp)
	Set the comparison type. More...

bool	constantRightHandSide () const HPP_CONSTRAINTS_DEPRECATED
	Whether right hand side is constant. More...

vectorOut_t	rightHandSide ()
	Return a modifiable reference to right hand side of equation. More...

vectorOut_t	nonConstRightHandSide () HPP_CONSTRAINTS_DEPRECATED
	Return a modifiable reference to right hand side of equation. More...

void	rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF)
	Set time-varying right hand side. More...

const DifferentiableFunctionPtr_t &	rightHandSideFunction () const
	Get time-varying right hand side. More...

vectorIn_t	rightHandSideAt (const value_type &s)
	Evaluate and set right hand side at given time. More...

Static Public Member Functions
static LockedJointPtr_t	create (const JointPtr_t &joint, const LiegroupElement &value)
	Create locked joint and return shared pointer. More...

static LockedJointPtr_t	create (const JointPtr_t &joint, const size_type index, vectorIn_t value)
	Create partial locked joint (only some degrees of freedom) More...

static LockedJointPtr_t	create (const DevicePtr_t &dev, const size_type index, vectorIn_t value)
	Create locked degrees of freedom of extra config space. More...

static LockedJointPtr_t	createCopy (LockedJointConstPtr_t other)
	Return shared pointer to copy. More...

Static Public Member Functions inherited from hpp::constraints::Explicit
static ExplicitPtr_t	create (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t()) HPP_CONSTRAINTS_DEPRECATED
	Create instance and return shared pointer. More...

static ExplicitPtr_t	create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t())
	Create instance and return shared pointer. More...

static ExplicitPtr_t	createCopy (const ExplicitPtr_t &other)
	Create a copy and return shared pointer. More...

Static Public Member Functions inherited from hpp::constraints::Implicit
static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &function)
	Create a shared pointer to a new instance. More...

static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)
	Create a shared pointer to a new instance. More...

static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)
	Create a shared pointer to a new instance. More...

static ImplicitPtr_t	createCopy (const ImplicitPtr_t &other)
	Create a copy and return shared pointer. More...

Protected Member Functions
	LockedJoint (const JointPtr_t &joint, const LiegroupElement &value)
	Constructor. More...

	LockedJoint (const JointPtr_t &joint, const size_type index, vectorIn_t value)
	Constructor of partial locked joint. More...

	LockedJoint (const DevicePtr_t &robot, const size_type index, vectorIn_t value)
	Constructor of locked degrees of freedom of extra config space. More...

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

virtual bool	isEqual (const Implicit &other, bool swapAndTest) const
	Test equality with other instance. More...

void	init (const LockedJointPtr_t &self)

Protected Member Functions inherited from hpp::constraints::Explicit
	Explicit (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp) HPP_CONSTRAINTS_DEPRECATED
	Constructor. More...

	Explicit (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp)
	Constructor. More...

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

void	init (const ExplicitWkPtr_t &weak)

Protected Member Functions inherited from hpp::constraints::Implicit
	Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)
	Constructor. More...

	Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)
	Constructor. More...

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

void	init (const ImplicitWkPtr_t &weak)

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::Explicit
DifferentiableFunctionPtr_t	inputToOutput_

segments_t	inputConf_

segments_t	outputConf_

segments_t	inputVelocity_

segments_t	outputVelocity_

Detailed Description

Implementation of constraint specific to locked joint.

The underlying equation is \( q_i (q) = rhs \). The right hand side of the equation is also called value.

Constructor & Destructor Documentation

hpp::constraints::LockedJoint::LockedJoint	(	const JointPtr_t &	joint,
		const LiegroupElement &	value
	)

protected

Constructor.

Parameters

joint	joint that is locked,
value	of the constant joint config,

hpp::constraints::LockedJoint::LockedJoint	(	const JointPtr_t &	joint,
		const size_type	index,
		vectorIn_t	value
	)

protected

Constructor of partial locked joint.

Parameters

joint	joint that is locked,
index	first locked degree of freedom in the joint,
value	of the constant joint partial config, size of value determines the number of degrees of freedom locked.

Note: valid only for translation joints.

hpp::constraints::LockedJoint::LockedJoint	(	const DevicePtr_t &	robot,
		const size_type	index,
		vectorIn_t	value
	)

protected

Constructor of locked degrees of freedom of extra config space.

Parameters

robot	robot
index	index of the first locked extra degree of freedom,
value	of the locked degrees of freedom, size of value determines the number of degrees of freedom locked.

hpp::constraints::LockedJoint::LockedJoint ( const LockedJoint & other )

protected

Copy constructor.

Member Function Documentation

size_type hpp::constraints::LockedJoint::configSize ( ) const

Get the configuration size of the joint.

const LiegroupSpacePtr_t& hpp::constraints::LockedJoint::configSpace ( ) const

Get configuration space of locked joint.

virtual ImplicitPtr_t hpp::constraints::LockedJoint::copy ( ) const

virtual

Copy object and return shared pointer to copy.

Reimplemented from hpp::constraints::Explicit.

static LockedJointPtr_t hpp::constraints::LockedJoint::create	(	const JointPtr_t &	joint,
		const LiegroupElement &	value
	)

static

Create locked joint and return shared pointer.

Parameters

joint	joint that is locked,
value	of the constant joint config,

static LockedJointPtr_t hpp::constraints::LockedJoint::create	(	const JointPtr_t &	joint,
		const size_type	index,
		vectorIn_t	value
	)

static

Create partial locked joint (only some degrees of freedom)

Parameters

joint	joint that is locked,
index	first locked degree of freedom in the joint,
value	of the constant joint partial config, size of value determines the number of degrees of freedom locked.

Note: valid only for translation joints.

static LockedJointPtr_t hpp::constraints::LockedJoint::create	(	const DevicePtr_t &	dev,
		const size_type	index,
		vectorIn_t	value
	)

static

Create locked degrees of freedom of extra config space.

Parameters

dev	robot
index	index of the first locked extra degree of freedom,
value	of the locked degrees of freedom, size of value determines the number of degrees of freedom locked.

static LockedJointPtr_t hpp::constraints::LockedJoint::createCopy ( LockedJointConstPtr_t other )

static

Return shared pointer to copy.

Parameters

other instance to copy.

void hpp::constraints::LockedJoint::init ( const LockedJointPtr_t & self )

protected

virtual bool hpp::constraints::LockedJoint::isEqual	(	const Implicit &	other,
		bool	swapAndTest
	)		const

protectedvirtual

Test equality with other instance.

Parameters

other	object to copy
swapAndTest	whether we should also check other == this

Reimplemented from hpp::constraints::Implicit.

const JointPtr_t& hpp::constraints::LockedJoint::joint ( )

inline

Return shared pointer to joint.

const std::string& hpp::constraints::LockedJoint::jointName ( ) const

inline

Return the joint name.

size_type hpp::constraints::LockedJoint::numberDof ( ) const

Get number of degrees of freedom of the joint.

std::ostream& hpp::constraints::LockedJoint::print ( std::ostream & os ) const

Print object in a stream.

Referenced by hpp::constraints::operator<<().

size_type hpp::constraints::LockedJoint::rankInConfiguration ( ) const

Get index of locked degree of freedom in robot configuration vector.

size_type hpp::constraints::LockedJoint::rankInVelocity ( ) const

Get index of locked degree of freedom in robot velocity vector.

void hpp::constraints::LockedJoint::rightHandSideFromConfig ( ConfigurationIn_t config )

Set the value of the locked joint from a configuration.

vectorIn_t hpp::constraints::LockedJoint::value ( ) const

Get the value of the locked joint.

void hpp::constraints::LockedJoint::value ( vectorIn_t value )

Set the value of the locked joint.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation