Actin®  Version 5.2.0
Software for Robotics Simulation and Control
EcPointStateEqualityConstraint Class Reference

A 3D point state constraint. More...

#include <ecPointStateEqualityConstraint.h>

Inheritance diagram for EcPointStateEqualityConstraint:
EcBaseStateEqualityConstraint EcBaseExpressionTreeElement EcXmlCompoundType EcXmlObject

Public Member Functions

 EcPointStateEqualityConstraint ()
 default constructor
 
virtual ~EcPointStateEqualityConstraint ()
 destructor
 
 EcPointStateEqualityConstraint (const EcPointStateEqualityConstraint &orig)
 copy constructor
 
EcPointStateEqualityConstraintoperator= (const EcPointStateEqualityConstraint &orig)
 assignment operator
 
EcBoolean operator== (const EcPointStateEqualityConstraint &orig) const
 equality operator
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 equality - virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 virtual new that returns an EcXmlObject
 
virtual void registerComponents () EC_OVERRIDE
 register components with the parent
 
virtual const EcTokentoken () const EC_OVERRIDE
 return a string token
 
virtual const EcXmlStringfirstLinkLabel () const
 get first link label
 
virtual void setFirstLinkLabel (const EcXmlString &firstLinkLabel)
 set first link label
 
virtual const EcXmlStringsecondLinkLabel () const
 get second link label
 
virtual void setSecondLinkLabel (const EcXmlString &secondLinkLabel)
 set second link label
 
virtual const EcXmlVectorfirstLinkPoint () const
 get first link point
 
virtual void setFirstLinkPoint (const EcXmlVector &firstLinkPoint)
 set first link point
 
virtual const EcXmlVectorsecondLinkPoint () const
 get second link point
 
virtual void setSecondLinkPoint (const EcXmlVector &secondLinkPoint)
 set second link point
 
virtual EcU32 doc () const EC_OVERRIDE
 return the degrees of constraint
 
virtual EcBoolean constrainPosition (const EcIndividualManipulator &manipulator, EcPositionState &positionState) const EC_OVERRIDE
 restrain the position state
 
virtual EcBoolean constrainVelocity (const EcIndividualManipulator &manipulator, const EcPositionState &positionState, EcVelocityState &velocityState) const EC_OVERRIDE
 restrain the velocity state
 
virtual EcBoolean constrainAcceleration (const EcIndividualManipulator &manipulator, const EcPositionState &positionState, const EcVelocityState &velocityState, EcAccelerationState &accelerationState) const EC_OVERRIDE
 restrain the velocity state
 
virtual const EcReArrayjacobian (const EcIndividualManipulator &manipulator, const EcPositionState &state) const EC_OVERRIDE
 returns the jacobian of the function. More...
 
virtual const EcReArrayjacobianDerivative (const EcIndividualManipulator &manipulator, const EcPositionState &state, const EcVelocityState &velState) const EC_OVERRIDE
 returns the jacobian time derivative of the function. More...
 
- Public Member Functions inherited from EcBaseStateEqualityConstraint
 EcBaseStateEqualityConstraint ()
 default constructor
 
virtual ~EcBaseStateEqualityConstraint ()
 destructor
 
 EcBaseStateEqualityConstraint (const EcBaseStateEqualityConstraint &orig)
 copy constructor
 
EcBaseStateEqualityConstraintoperator= (const EcBaseStateEqualityConstraint &orig)
 assignment operator
 
EcBoolean operator== (const EcBaseStateEqualityConstraint &orig) const
 equality operator
 
- Public Member Functions inherited from EcBaseExpressionTreeElement
 EcBaseExpressionTreeElement ()
 default constructor
 
 EcBaseExpressionTreeElement (const EcXmlBaseVariableCompoundType *containerPointer)
 constructor given container pointer
 
virtual ~EcBaseExpressionTreeElement ()
 destructor
 
 EcBaseExpressionTreeElement (const EcBaseExpressionTreeElement &orig)
 copy constructor
 
EcBaseExpressionTreeElementoperator= (const EcBaseExpressionTreeElement &orig)
 assignment operator
 
EcBoolean operator== (const EcBaseExpressionTreeElement &orig) const
 equality operator
 
virtual const EcXmlBaseVariableCompoundTypecontainer () const
 gets the container
 
virtual void setContainer (const EcXmlBaseVariableCompoundType *container)
 sets the container
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 xmlInitialize
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read object from an XML stream
 
virtual EcBoolean readAttributes (EcXmlReader &stream)
 read object attributes from an XML stream
 
virtual EcBoolean readElements (EcXmlReader &stream)
 read object elements from an XML stream
 
virtual EcBoolean write (EcXmlWriter &stream) const EC_OVERRIDE
 write object to an XML stream
 
virtual EcBoolean writeAttributes (EcXmlWriter &stream) const
 write object attributes to an XML stream
 
virtual EcBoolean writeElements (EcXmlWriter &stream) const
 write object elements to an XML stream
 
virtual EcBoolean writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
 write schema
 
virtual EcBoolean writeSchemaAttributes (EcXmlSchema &stream) const
 write schema attributes
 
virtual EcBoolean writeSchemaElements (EcXmlSchema &stream) const
 write schema elements
 
virtual void registerComponent (const EcToken &token, EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponent (EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponentReadOnly (const EcToken &token, EcXmlObject *obj)
 register a single component as read-only More...
 
virtual const EcXmlComponentMapcomponentMap () const
 get a reference to the component map
 
virtual void registerAttributeComponent (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component More...
 
virtual void registerAttributeComponentReadOnly (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component read-only More...
 
virtual const EcXmlComponentMapattributeComponentMap ()
 get a reference to the component attribute map
 
virtual const EcXmlSpecialDescriptorMapspecialDescriptorMap ()
 get a reference to the special-descriptor map
 
virtual void registerComponentDescriptor (const EcToken &xmlToken, const EcToken &descriptorToken, const EcString &descriptorString)
 register an XML token-string descriptor More...
 
virtual const EcXmlTokenStringDescriptorMapMaptokenStringDescriptorMap ()
 get a reference to the XML token-string descriptor map
 
virtual EcBoolean hasChildren () const
 return EcTrue if there are children components or EcFalse if an empty element.
 
virtual EcBoolean hasAttributes () const
 return EcTrue if there are attributes in the element.
 
- Public Member Functions inherited from EcXmlObject
 ECDECLARE_BIGFOUR (EcXmlObject)
 
virtual EcBoolean readAttribute (EcXmlReader &stream)
 read this attribute from an XML stream
 
virtual EcBoolean createSchema (const EcString &filename, const EcToken &objectName=EcXml::EcDefaultToken) const
 create schema
 
virtual EcBoolean xmlInitialized () const
 get XML initialized flag. This bit is set on initialization.
 
virtual void setXmlInitialized (EcBoolean val=EcTrue)
 set XML initialized flag. This bit is set on initialization.
 
virtual EcBoolean specified () const
 get specified flag. This bit is set upon reading from an XML file.
 
virtual void setSpecified (EcBoolean val=EcTrue)
 set specified flag. This bit is set upon reading from an XML file.
 
virtual EcBoolean isBasicType () const
 Return true/false for basic type.
 
virtual EcBoolean equalsDefault () const
 tests equality of XML object with default
 

Static Public Member Functions

static EcPointStateEqualityConstraint nullObject ()
 get a null object
 
static const EcTokenclassToken ()
 token for this class
 
static EcXmlObjectcreator ()
 static creator function
 

Protected Member Functions

virtual EcVector pointMotion (const EcManipulatorLink &inboardLink, const EcManipulatorLink &outboardLink, const EcVector &point, EcManipulatorActivePositionState &activePositionState) const
 
- Protected Member Functions inherited from EcXmlCompoundType
virtual EcBoolean readValueFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcBoolean readValueFromSpecialToken (const EcToken &token, EcXmlReader &stream)
 read value from unregistered token
 
virtual EcBoolean readAttributeFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcXmlComponentMapnewComponentMap () const
 allocate a new componentMap
 
virtual EcXmlSpecialDescriptorMapnewSpecialDescriptorMap ()
 allocate a new specialDescriptorsMap
 
virtual EcXmlTokenStringDescriptorMapMapnewTokenStringDescriptorMap ()
 allocate a new tokenStringDescriptorsMap
 
virtual void createComponentMap () const
 create component map
 
virtual void createAttributeComponentMap ()
 create attribute component map
 
virtual void createSpecialDescriptorMap ()
 create special-descriptors map
 
virtual void createTokenStringDescriptorMap ()
 create token-string descriptor map
 
virtual EcBoolean isReadOnlyComponent (const EcToken token) const
 check to see if the token corresponds to a read-only component
 
virtual EcBoolean isReadOnlyAttribute (const EcToken token) const
 check to see if the token corresponds to a read-only attribute
 
virtual EcXmlObjectlibraryAttribute ()
 

Protected Attributes

EcXmlString m_FirstLinkLabel
 The label of the first link.
 
EcXmlString m_SecondLinkLabel
 The label of the second link.
 
EcXmlVector m_FirstLinkPoint
 The point on the first link relative to its primary frame.
 
EcXmlVector m_SecondLinkPoint
 The point on the second link relative to its primary frame.
 
- Protected Attributes inherited from EcBaseStateEqualityConstraint
EcReArray m_Jacobian
 The Jacobian.
 
EcReArray m_JacobianDerivative
 The Jacobian derivative.
 
EcPositionState m_UtilityState
 Utility state.
 
EcManipulatorActiveState m_BaseActiveState
 Base active state.
 
EcManipulatorActiveState m_OffsetActiveState
 Offset active state.
 
- Protected Attributes inherited from EcBaseExpressionTreeElement
const EcXmlBaseVariableCompoundTypem_pContainer
 a pointer to the container
 
- Protected Attributes inherited from EcXmlCompoundType
EcXmlComponentMapm_pComponentMap
 
EcXmlComponentMapm_pAttributeComponentMap
 
EcXmlSpecialDescriptorMapm_pSpecialDescriptorMap
 
EcXmlTokenStringDescriptorMapMapm_pComponentMapTokenStringDescriptor
 
- Protected Attributes inherited from EcXmlObject
EcU8 m_State
 the state of the object - eight boolean flags
 

Additional Inherited Members

- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 
- Static Protected Attributes inherited from EcBaseStateEqualityConstraint
static const EcReal m_theMaxTimeIncrementForFiniteDifferencing
 The maximum time increment used in finite differencing when calculating Jacobian derivative.
 
static const EcReal m_theMaxJointIncrementForFiniteDifferencing
 The maximum joint increment used in finite differencing when calculating Jacobian derivative.
 
- Static Protected Attributes inherited from EcXmlObject
static const EcU8 m_theXmlInitializedBit
 the bit used to describe xml initialization
 
static const EcU8 m_theSpecifiedBit
 the bit used to describe specification
 

Detailed Description

A 3D point state constraint.

Definition at line 22 of file ecPointStateEqualityConstraint.h.

Member Function Documentation

virtual const EcReArray& EcPointStateEqualityConstraint::jacobian ( const EcIndividualManipulator manipulator,
const EcPositionState state 
) const
virtual

returns the jacobian of the function.

The columnsize of the returned Jacobian should be the number of joints for fixed-based manipulators and the number of joints + 6 for floating-based manipulators. For floating-base manipulators, the 6-element component that represents the mobile base should be appended to the joint component, with the first three corresponding to linear motion and the last three to angular motion. The row size should be the degrees of constraint.

Implements EcBaseStateEqualityConstraint.

virtual const EcReArray& EcPointStateEqualityConstraint::jacobianDerivative ( const EcIndividualManipulator manipulator,
const EcPositionState state,
const EcVelocityState velState 
) const
virtual

returns the jacobian time derivative of the function.

The column size of the returned Jacobian time derivative should be the number of joints for fixed-based manipulators and the number of joints + 6 for floating-based manipulators. For floating-base manipulators, the 6-element component that represents the mobile base should be appended to the joint component, with the first three corresponding to linear motion and the last three to angular motion. The row size should be the degrees of constraint.

Reimplemented from EcBaseStateEqualityConstraint.

virtual EcVector EcPointStateEqualityConstraint::pointMotion ( const EcManipulatorLink inboardLink,
const EcManipulatorLink outboardLink,
const EcVector point,
EcManipulatorActivePositionState activePositionState 
) const
protectedvirtual

calculate the velocity of the point in the outboard link's primary frame due to unit joint motion of the inboard link. (i.e., 1 m/s or 1 rad/s)


The documentation for this class was generated from the following file:
Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.