8 #ifndef CONSTRAINTSET_HPP_
9 #define CONSTRAINTSET_HPP_
76 virtual void reset(
unsigned int nc,
double accuracy,
unsigned int maximum_iterations);
82 ConstraintSet(
unsigned int nc,
double accuracy,
unsigned int maximum_iterations);
86 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
represents a frame transformation in 3D space (rotation + translation)
virtual void updateJacobian()=0
virtual void setWy(const e_vector &Wy_in)
bool setControlParameter(int id, ConstraintAction action, double value, double timestep=0.0)
virtual double getMaxTimestep(double ×tep)
virtual const e_matrix6 & getJf() const
virtual bool initialise(KDL::Frame &init_pose)
KDL::Frame m_internalPose
KDL::Frame m_externalPose
virtual const e_vector & getControlOutput() const
virtual void initCache(Cache *_cache)=0
void substep(bool _substep)
virtual const e_vector & getWy() const
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool registerCallback(ConstraintCallback _function, void *_param)
virtual void modelUpdate(KDL::Frame &_external_pose, const Timestamp ×tamp)
virtual void reset(unsigned int nc, double accuracy, unsigned int maximum_iterations)
virtual void updateKinematics(const Timestamp ×tamp)=0
virtual const KDL::Frame & getPose() const
virtual void setJointVelocity(const e_vector chidot_in)
virtual void updateControlOutput(const Timestamp ×tamp)=0
virtual unsigned int getNrOfConstraints()
ConstraintCallback m_constraintCallback
virtual const e_matrix & getCf() const
virtual void pushCache(const Timestamp ×tamp)=0
virtual bool setControlParameters(ConstraintValues *_values, unsigned int _nvalues, double timestep=0.0)=0
virtual const ConstraintValues * getControlParameters(unsigned int *_nvalues)=0
bool(* ConstraintCallback)(const Timestamp ×tamp, struct ConstraintValues *const _values, unsigned int _nvalues, void *_param)
struct ConstraintSingleValue * values