EulerConstraint Class Referenceabstract

#include <drake/attic/multibody/rigid_body_constraint.h>

Inheritance diagram for EulerConstraint:
Collaboration diagram for EulerConstraint:

Public Member Functions

 EulerConstraint (RigidBodyTree< double > *model, const Eigen::Vector3d &lb, const Eigen::Vector3d &ub, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
virtual ~EulerConstraint (void)
virtual void eval (const double *t, KinematicsCache< double > &cache, Eigen::VectorXd &c, Eigen::MatrixXd &dc) const
virtual void bounds (const double *t, Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
- Public Member Functions inherited from SingleTimeKinematicConstraint
 SingleTimeKinematicConstraint (RigidBodyTree< double > *model, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
virtual ~SingleTimeKinematicConstraint ()
bool isTimeValid (const double *t) const
int getNumConstraint (const double *t) const
virtual void name (const double *t, std::vector< std::string > &name_str) const =0
virtual void updateRobot (RigidBodyTree< double > *robot)
- Public Member Functions inherited from RigidBodyConstraint
 RigidBodyConstraint (int category, RigidBodyTree< double > *robot, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
int getType () const
int getCategory () const
RigidBodyTree< double > * getRobotPointer () const
virtual ~RigidBodyConstraint (void)=0

Protected Member Functions

virtual void evalrpy (const KinematicsCache< double > &cache, Eigen::Vector3d &rpy, Eigen::MatrixXd &J) const =0
bool null_constraint_row (int row) const
- Protected Member Functions inherited from SingleTimeKinematicConstraint
void set_num_constraint (int num_constraint)
- Protected Member Functions inherited from RigidBodyConstraint
std::string getTimeString (const double *t) const
void set_type (int type)
void set_robot (RigidBodyTree< double > *robot)
const doubletspan () const

Additional Inherited Members

- Static Public Attributes inherited from RigidBodyConstraint
static const int SingleTimeKinematicConstraintCategory = -1
static const int MultipleTimeKinematicConstraintCategory = -2
static const int QuasiStaticConstraintCategory = -3
static const int PostureConstraintCategory = -4
static const int MultipleTimeLinearPostureConstraintCategory = -5
static const int SingleTimeLinearPostureConstraintCategory = -6
static const int QuasiStaticConstraintType = 1
static const int PostureConstraintType = 2
static const int SingleTimeLinearPostureConstraintType = 3
static const int AllBodiesClosestDistanceConstraintType = 4
static const int WorldEulerConstraintType = 5
static const int WorldGazeDirConstraintType = 6
static const int WorldGazeOrientConstraintType = 7
static const int WorldGazeTargetConstraintType = 8
static const int RelativeGazeTargetConstraintType = 9
static const int WorldCoMConstraintType = 10
static const int WorldPositionConstraintType = 11
static const int WorldPositionInFrameConstraintType = 12
static const int WorldQuatConstraintType = 13
static const int Point2PointDistanceConstraintType = 14
static const int Point2LineSegDistConstraintType = 15
static const int WorldFixedPositionConstraintType = 16
static const int WorldFixedOrientConstraintType = 17
static const int WorldFixedBodyPoseConstraintType = 18
static const int PostureChangeConstraintType = 19
static const int RelativePositionConstraintType = 20
static const int RelativeQuatConstraintType = 24
static const int RelativeGazeDirConstraintType = 25
static const int MinDistanceConstraintType = 26
static const int GravityCompensationTorqueConstraintType = 27

Constructor & Destructor Documentation

EulerConstraint ( RigidBodyTree< double > *  model,
const Eigen::Vector3d &  lb,
const Eigen::Vector3d &  ub,
const Eigen::Vector2d tspan = DrakeRigidBodyConstraint::default_tspan 

Here is the call graph for this function:

virtual ~EulerConstraint ( void  )

Member Function Documentation

void bounds ( const double t,
Eigen::VectorXd &  lb,
Eigen::VectorXd &  ub 
) const

Implements SingleTimeKinematicConstraint.

Here is the call graph for this function:

void eval ( const double t,
KinematicsCache< double > &  cache,
Eigen::VectorXd &  c,
Eigen::MatrixXd &  dc 
) const

Implements SingleTimeKinematicConstraint.

Here is the call graph for this function:

virtual void evalrpy ( const KinematicsCache< double > &  cache,
Eigen::Vector3d &  rpy,
Eigen::MatrixXd &  J 
) const
protectedpure virtual

Implemented in WorldEulerConstraint.

Here is the caller graph for this function:

bool null_constraint_row ( int  row) const

Here is the caller graph for this function:

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