Public Types |
Public Member Functions |
Static Public Member Functions |
Protected Member Functions |
List of all members
hpp::constraints::GenericTransformation< _Options > Class Template Reference
#include <hpp/constraints/fwd.hh>
Inheritance diagram for hpp::constraints::GenericTransformation< _Options >:
Collaboration diagram for hpp::constraints::GenericTransformation< _Options >:
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) |
| 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) | |
 Public Member Functions inherited from hpp::constraints::DifferentiableFunction | |
| virtual | ~DifferentiableFunction () |
| LiegroupElement | operator() (vectorIn_t argument) const |
| void | value (LiegroupElementRef result, vectorIn_t argument) const |
| void | jacobian (matrixOut_t jacobian, vectorIn_t argument) const |
| const ArrayXb & | activeParameters () const |
| const ArrayXb & | activeDerivativeParameters () const |
| size_type | inputSize () const |
| Get dimension of input vector. More... | |
| size_type | inputDerivativeSize () const |
| LiegroupSpacePtr_t | outputSpace () const |
| Get output space. 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 |
| void | finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
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)) |
| 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)) |
| 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)) |
| 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)) |
Protected Member Functions | |
| void | init (const WkPtr_t &self) |
| virtual void | impl_compute (LiegroupElementRef result, ConfigurationIn_t argument) const |
| virtual void | impl_jacobian (matrixOut_t jacobian, ConfigurationIn_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... | |
| 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_ |
| ArrayXb | activeDerivativeParameters_ |
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
◆ Ptr_t
template<int _Options>
| typedef boost::shared_ptr<GenericTransformation> hpp::constraints::GenericTransformation< _Options >::Ptr_t |
◆ WkPtr_t
template<int _Options>
| typedef boost::weak_ptr<GenericTransformation> hpp::constraints::GenericTransformation< _Options >::WkPtr_t |
Member Enumeration Documentation
◆ anonymous enum
template<int _Options>
| anonymous enum |
Constructor & Destructor Documentation
◆ ~GenericTransformation()
template<int _Options>
|
inlinevirtual |
◆ GenericTransformation()
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
◆ create() [1/4]
template<int _Options>
|
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.
◆ create() [2/4]
template<int _Options>
|
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.
◆ create() [3/4]
template<int _Options>
|
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.
◆ create() [4/4]
template<int _Options>
|
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.
◆ frame1InJoint1() [1/2]
template<int _Options>
|
inline |
Set position of frame 1 in joint 1.
◆ frame1InJoint1() [2/2]
template<int _Options>
|
inline |
Get position of frame 1 in joint 1.
◆ frame2InJoint2() [1/2]
template<int _Options>
|
inline |
Set position of frame 2 in joint 2.
◆ frame2InJoint2() [2/2]
template<int _Options>
|
inline |
Get position of frame 2 in joint 2.
◆ impl_compute()
template<int _Options>
|
protectedvirtual |
Compute value of error
- Parameters
-
argument configuration of the robot,
- Return values
-
result error vector
◆ impl_jacobian()
template<int _Options>
|
protectedvirtual |
◆ init()
template<int _Options>
|
inlineprotected |
◆ joint1() [1/2]
template<int _Options>
|
inline |
Set joint 1.
◆ joint1() [2/2]
template<int _Options>
|
inline |
Get joint 1.
◆ joint2() [1/2]
template<int _Options>
|
inline |
Set joint 2.
◆ joint2() [2/2]
template<int _Options>
|
inline |
Get joint 2.
◆ print()
template<int _Options>
|
virtual |
Display object in a stream.
Reimplemented from hpp::constraints::DifferentiableFunction.
◆ reference() [1/2]
template<int _Options>
|
inline |
Set desired relative transformation of joint2 in joint1
◆ reference() [2/2]
template<int _Options>
|
inline |
Get desired relative orientation.
The documentation for this class was generated from the following files:
- include/hpp/constraints/fwd.hh
- include/hpp/constraints/generic-transformation.hh
