Constraint of relative pose between two frames on a kinematic chain. More...

#include <hpp/constraints/explicit/relative-pose.hh>

Inheritance diagram for hpp::constraints::explicit_::RelativePose:

Collaboration diagram for hpp::constraints::explicit_::RelativePose:

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

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

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...

Public Member Functions inherited from hpp::constraints::implicit::RelativePose
const JointConstPtr_t &	joint1 () const
	Get joint1. More...

const JointConstPtr_t &	joint2 () const
	Get joint2. More...

Static Public Member Functions
static RelativePosePtr_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 >(6, true), ComparisonTypes_t comp=std::vector< ComparisonType >(), vectorIn_t rhs=vector_t())
	Create instance and return shared pointer. More...

static RelativePosePtr_t	createCopy (const RelativePosePtr_t &other)

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...

Static Public Member Functions inherited from hpp::constraints::implicit::RelativePose
static RelativePosePtr_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 >(6, true), ComparisonTypes_t comp=std::vector< ComparisonType >(), vectorIn_t rhs=vector_t())
	Create instance and return shared pointer. More...

static RelativePosePtr_t	createCopy (const RelativePosePtr_t &other)

Protected Member Functions
	RelativePose (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 >(6, true), ComparisonTypes_t comp=std::vector< ComparisonType >(), vectorIn_t rhs=vector_t())
	Constructor. More...

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

void	init (RelativePoseWkPtr_t weak)
	Store weak pointer to itself. More...

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...

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

void	init (const ImplicitWkPtr_t &weak)

Protected Member Functions inherited from hpp::constraints::implicit::RelativePose
	RelativePose (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 >(6, true), ComparisonTypes_t comp=std::vector< ComparisonType >(), vectorIn_t rhs=vector_t())
	Constructor. More...

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

void	init (RelativePoseWkPtr_t weak)
	Store shared pointer to itself. More...

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

Constraint of relative pose between two frames on a kinematic chain.

Constructor & Destructor Documentation

hpp::constraints::explicit_::RelativePose::RelativePose	(	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 >(6, true)`,
		ComparisonTypes_t	comp = `std::vector< ComparisonType >()`,
		vectorIn_t	rhs = `vector_t()`
	)

protected

Constructor.

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.

hpp::constraints::explicit_::RelativePose::RelativePose ( const RelativePose & other )

protected

Copy constructor.

Member Function Documentation

virtual ImplicitPtr_t hpp::constraints::explicit_::RelativePose::copy ( ) const

virtual

Copy object and return shared pointer to copy.

Reimplemented from hpp::constraints::Explicit.

static RelativePosePtr_t hpp::constraints::explicit_::RelativePose::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 >(6, true)`,
		ComparisonTypes_t	comp = `std::vector< ComparisonType >()`,
		vectorIn_t	rhs = `vector_t()`
	)

static

Create instance and return shared pointer.

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.

static RelativePosePtr_t hpp::constraints::explicit_::RelativePose::createCopy ( const RelativePosePtr_t & other )

static

virtual void hpp::constraints::explicit_::RelativePose::implicitToExplicitRhs	(	vectorIn_t	implicitRhs,
		vectorOut_t	explicitRhs
	)

virtual

Convert right hand side.

Parameters

implicitRhs right hand side of implicit formulation,

Return values

explicitRhs right hand side of explicit formulation.

For this constraint, the implicit formulation does not derive from the explicit formulation. The explicit form writes

\begin{eqnarray} rhs_{expl} &=& \log_{SE(3)} \left(F_{2/J_2} F_{1/J_1}^{-1} J_1^{-1} J_2\right)\\ rhs_{impl} &=& \log_{\mathbf{R}^3\times SO(3)} \left(F_{1/J_1}^{-1} J_1^{-1}J_2 F_{2/J_2}\right) \end{eqnarray}

Thus

\begin{equation} rhs_{expl} = \log_{SE(3)}\left( F_{2/J_2}\exp_{\mathbf{R}^3\times SO(3)} (rhs_{impl}) F_{2/J_2}^{-1}\right) \end{equation}

Reimplemented from hpp::constraints::Explicit.

void hpp::constraints::explicit_::RelativePose::init ( RelativePoseWkPtr_t weak )

protected

Store weak pointer to itself.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation