Relative transformation as a mapping between configuration variables. More...

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

Inheritance diagram for hpp::constraints::explicit_::RelativeTransformation:

Collaboration diagram for hpp::constraints::explicit_::RelativeTransformation:

Public Member Functions
const JointConstPtr_t &	joint1 () const
	Get joint 1. More...

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

virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream. 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 RelativeTransformationPtr_t	create (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3f &frame1, const Transform3f &frame2)
	Return a shared pointer to a new instance. More...

Protected Types
typedef Eigen::BlockIndex	BlockIndex

typedef Eigen::RowBlockIndices	RowBlockIndices

typedef Eigen::ColBlockIndices	ColBlockIndices

Protected Member Functions
	RelativeTransformation (const std::string &name, const DevicePtr_t &robot, const JointConstPtr_t &joint1, const JointConstPtr_t &joint2, const Transform3f &frame1, const Transform3f &frame2, const segments_t inConf, const segments_t outConf, const segments_t inVel, const segments_t outVel, std::vector< bool > mask=std::vector< bool >(6, true))

	RelativeTransformation (const RelativeTransformation &other)

void	init (const RelativeTransformationWkPtr_t &weak)

void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const
	Compute the value (dimension 7) of the freeflyer joint 2. More...

void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const

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...

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

Relative transformation as a mapping between configuration variables.

When the positions of two joints are constrained by a full transformation constraint, if the second joint is hold by a freeflyer joint, the position of this latter joint can be explicitely expressed with respect to the position of the first joint.

This class provides this expression. The input configuration variables are the joint values of all joints except the above mentioned freeflyer joint. The output configuration variables are the 7 configuration variables of the freeflyer joint.

Member Typedef Documentation

typedef Eigen::BlockIndex hpp::constraints::explicit_::RelativeTransformation::BlockIndex

protected

typedef Eigen::ColBlockIndices hpp::constraints::explicit_::RelativeTransformation::ColBlockIndices

protected

typedef Eigen::RowBlockIndices hpp::constraints::explicit_::RelativeTransformation::RowBlockIndices

protected

Constructor & Destructor Documentation

hpp::constraints::explicit_::RelativeTransformation::RelativeTransformation	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint1,
		const JointConstPtr_t &	joint2,
		const Transform3f &	frame1,
		const Transform3f &	frame2,
		const segments_t	inConf,
		const segments_t	outConf,
		const segments_t	inVel,
		const segments_t	outVel,
		std::vector< bool >	mask = `std::vector< bool >(6, true)`
	)

protected

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

inlineprotected

Member Function Documentation

static RelativeTransformationPtr_t hpp::constraints::explicit_::RelativeTransformation::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const JointConstPtr_t &	joint1,
		const JointConstPtr_t &	joint2,
		const Transform3f &	frame1,
		const Transform3f &	frame2
	)

static

Return a shared pointer to a new instance.

Parameters

name	the name of the constraints,
robot	the robot the constraints is applied to,
joint1	input joint
joint2	output joint: position of this joint is computed with respect to joint1 position
frame1	position of a fixed frame in joint 1,
frame2	position of a fixed frame in joint 2,

void hpp::constraints::explicit_::RelativeTransformation::impl_compute	(	LiegroupElementRef	result,
		vectorIn_t	argument
	)		const

protectedvirtual

Compute the value (dimension 7) of the freeflyer joint 2.

Parameters

argument vector of input configuration variables (all joints except freeflyer joint)

Return values

result vector of output configuration variables corresponding to the freeflyer value.

Implements hpp::constraints::DifferentiableFunction.

void hpp::constraints::explicit_::RelativeTransformation::impl_jacobian	(	matrixOut_t	jacobian,
		vectorIn_t	arg
	)		const

protectedvirtual

Implements hpp::constraints::DifferentiableFunction.

void hpp::constraints::explicit_::RelativeTransformation::init ( const RelativeTransformationWkPtr_t & weak )

inlineprotected

const JointConstPtr_t& hpp::constraints::explicit_::RelativeTransformation::joint1 ( ) const

inline

Get joint 1.

const JointConstPtr_t& hpp::constraints::explicit_::RelativeTransformation::joint2 ( ) const

inline

Get joint 2.

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation