Base class for IK-solver Constraints Specify relationship between joint velocities and constraint "error". More...

#include <constraint.h>

Inheritance diagram for constrained_ik::Constraint:

Classes
struct	ConstraintData
	This structure is to be used by all constraints to store specific data that needs to get updated every iteration of the solver. More...
Public Member Functions
virtual constrained_ik::ConstraintResults	evalConstraint (const SolverState &state) const =0
	Pure definition for calculating constraint error, jacobian & status.
virtual void	init (const Constrained_IK *ik)
	Initialize constraint and should be called by any inheriting classes.
virtual void	loadParameters (const XmlRpc::XmlRpcValue &constraint_xml)
	Load constraint parameters from XmlRpc::XmlRpcValue.
void	setDebug (bool debug=true)
	set debug mode
Protected Member Functions
virtual int	numJoints () const
	Returns the number of joints.
Protected Attributes
bool	debug_
const Constrained_IK *	ik_
bool	initialized_

Detailed Description

Base class for IK-solver Constraints Specify relationship between joint velocities and constraint "error".

Definition at line 48 of file constraint.h.

Member Function Documentation

virtual constrained_ik::ConstraintResults constrained_ik::Constraint::evalConstraint ( const SolverState & state ) const [pure virtual]

Pure definition for calculating constraint error, jacobian & status.

Parameters:

state solvers current state

Returns:: ConstraintResults

virtual void constrained_ik::Constraint::init ( const Constrained_IK * ik ) [inline, virtual]

Initialize constraint and should be called by any inheriting classes.

Parameters:

ik	Pointer to Constrained_IK

Reimplemented in constrained_ik::constraints::AvoidObstacles, constrained_ik::constraints::AvoidJointLimits, constrained_ik::constraints::JointVelLimits, constrained_ik::constraints::GoalMidJoint, and constrained_ik::ConstraintGroup.

Definition at line 84 of file constraint.h.

virtual void constrained_ik::Constraint::loadParameters ( const XmlRpc::XmlRpcValue & constraint_xml ) [inline, virtual]

Load constraint parameters from XmlRpc::XmlRpcValue.

Parameters:

constraint_xml XmlRpc::XmlRpcValue

Reimplemented in constrained_ik::constraints::AvoidObstacles, constrained_ik::constraints::AvoidJointLimits, constrained_ik::constraints::JointVelLimits, constrained_ik::constraints::AvoidSingularities, constrained_ik::constraints::GoalPosition, constrained_ik::constraints::GoalToolPointing, constrained_ik::constraints::GoalOrientation, constrained_ik::constraints::GoalMidJoint, constrained_ik::constraints::GoalZeroJVel, and constrained_ik::constraints::GoalMinimizeChange.

Definition at line 90 of file constraint.h.

int constrained_ik::Constraint::numJoints ( ) const [protected, virtual]

Returns the number of joints.

Returns:: number of joints

Definition at line 37 of file constraint.cpp.

void constrained_ik::Constraint::setDebug ( bool debug = true ) [inline]

set debug mode

Parameters:

debug Value to set debug_ to (defaults to true)

Definition at line 96 of file constraint.h.

Member Data Documentation

bool constrained_ik::Constraint::debug_ [protected]

Provide control over if certain print statements are output

Definition at line 100 of file constraint.h.

const Constrained_IK* constrained_ik::Constraint::ik_ [protected]

Pointer to parent solver

Definition at line 101 of file constraint.h.

bool constrained_ik::Constraint::initialized_ [protected]

True if solver is intialized, otherwise false

Definition at line 99 of file constraint.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation