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) const

virtual void	explicitToImplicitRhs (vectorIn_t explicitRhs, vectorOut_t implicitRhs) const

Public Member Functions inherited from hpp::constraints::Explicit
virtual DifferentiableFunctionPtr_t	explicitFunction () const

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)

void	rightHandSide (vectorIn_t rhs)

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

size_type	rhsSize () const HPP_CONSTRAINTS_DEPRECATED

size_type	parameterSize () const

size_type	rightHandSideSize () const

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

vectorOut_t	rightHandSide ()

vectorOut_t	nonConstRightHandSide () HPP_CONSTRAINTS_DEPRECATED

void	rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF)

const DifferentiableFunctionPtr_t &	rightHandSideFunction () const

vectorIn_t	rightHandSideAt (const value_type &s)

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())

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

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())

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)

static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)

static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)

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())

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())

	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

	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)

	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)

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

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

virtual bool	isEqual (const Implicit &other, bool swapAndTest) const

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())

	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

◆ RelativePose() [1/2]

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.

◆ RelativePose() [2/2]

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

protected

Copy constructor.

Member Function Documentation

◆ copy()

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

virtual

Copy object and return shared pointer to copy.

Reimplemented from hpp::constraints::Explicit.

◆ create()

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.

◆ createCopy()

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

static

◆ explicitToImplicitRhs()

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

virtual

Convert right hand side

Parameters

explicitRhs right hand side of explicit formulation,

Return values

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

Reimplemented from hpp::constraints::Explicit.

◆ implicitToExplicitRhs()

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

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.

◆ init()

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

protected

Store weak pointer to itself.

The documentation for this class was generated from the following file:

include/hpp/constraints/explicit/relative-pose.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RelativePose() [1/2]

◆ RelativePose() [2/2]

Member Function Documentation

◆ copy()

◆ create()

◆ createCopy()

◆ explicitToImplicitRhs()

◆ implicitToExplicitRhs()

◆ init()