Drake
MinDistanceConstraint Class Reference

#include <drake/multibody/rigid_body_constraint.h>

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Public Member Functions

 MinDistanceConstraint (RigidBodyTree< double > *model, double min_distance, const std::vector< int > &active_bodies_idx, const std::set< std::string > &active_group_names, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
virtual ~MinDistanceConstraint ()
 
virtual void eval (const double *t, KinematicsCache< double > &cache, Eigen::VectorXd &c, Eigen::MatrixXd &dc) const
 
virtual void name (const double *t, std::vector< std::string > &name) const
 
void scaleDistance (const Eigen::VectorXd &dist, Eigen::VectorXd &scaled_dist, Eigen::MatrixXd &dscaled_dist_ddist) const
 
void penalty (const Eigen::VectorXd &dist, Eigen::VectorXd &cost, Eigen::MatrixXd &dcost_ddist) 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 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
 

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
 
- 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
 

Constructor & Destructor Documentation

MinDistanceConstraint ( RigidBodyTree< double > *  model,
double  min_distance,
const std::vector< int > &  active_bodies_idx,
const std::set< std::string > &  active_group_names,
const Eigen::Vector2d tspan = DrakeRigidBodyConstraint::default_tspan 
)

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virtual ~MinDistanceConstraint ( )
inlinevirtual

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Member Function Documentation

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

Implements SingleTimeKinematicConstraint.

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

Implements SingleTimeKinematicConstraint.

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void name ( const double t,
std::vector< std::string > &  name 
) const
virtual

Implements SingleTimeKinematicConstraint.

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void penalty ( const Eigen::VectorXd &  dist,
Eigen::VectorXd &  cost,
Eigen::MatrixXd &  dcost_ddist 
) const

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void scaleDistance ( const Eigen::VectorXd &  dist,
Eigen::VectorXd &  scaled_dist,
Eigen::MatrixXd &  dscaled_dist_ddist 
) const

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