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

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

Inheritance diagram for hpp::constraints::implicit::RelativePose:

Collaboration diagram for hpp::constraints::implicit::RelativePose:

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

const JointConstPtr_t &	joint1 () const
	Get joint1. More...

const JointConstPtr_t &	joint2 () const
	Get joint2. 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)

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::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...

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 shared pointer to itself. More...

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)

Detailed Description

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

Constructor & Destructor Documentation

◆ RelativePose() [1/2]

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()`
	)

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::implicit::RelativePose::RelativePose ( const RelativePose & other )

protected

Copy constructor.

Member Function Documentation

◆ copy()

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

virtual

Copy object and return shared pointer to copy.

Reimplemented from hpp::constraints::Implicit.

Reimplemented in hpp::constraints::explicit_::RelativePose.

◆ create()

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

static

◆ init()

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

protected

Store shared pointer to itself.

◆ joint1()

const JointConstPtr_t& hpp::constraints::implicit::RelativePose::joint1 ( ) const

inline

Get joint1.

◆ joint2()

const JointConstPtr_t& hpp::constraints::implicit::RelativePose::joint2 ( ) const

inline

Get joint2.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RelativePose() [1/2]

◆ RelativePose() [2/2]

Member Function Documentation

◆ copy()

◆ create()

◆ createCopy()

◆ init()

◆ joint1()

◆ joint2()