Drake
MultipleTimeKinematicConstraint Class Referenceabstract

#include <drake/multibody/rigid_body_constraint.h>

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Public Member Functions

 MultipleTimeKinematicConstraint (RigidBodyTree< double > *model, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
virtual ~MultipleTimeKinematicConstraint ()
 
std::vector< boolisTimeValid (const double *t, int n_breaks) const
 
virtual int getNumConstraint (const double *t, int n_breaks) const =0
 
void eval (const double *t, int n_breaks, const Eigen::MatrixXd &q, Eigen::VectorXd &c, Eigen::MatrixXd &dc) const
 
virtual void eval_valid (const double *valid_t, int num_valid_t, const Eigen::MatrixXd &valid_q, Eigen::VectorXd &c, Eigen::MatrixXd &dc_valid) const =0
 
virtual void bounds (const double *t, int n_breaks, Eigen::VectorXd &lb, Eigen::VectorXd &ub) const =0
 
virtual void name (const double *t, int n_breaks, 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

int numValidTime (const double *t, int n_breaks) const
 
- 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

virtual ~MultipleTimeKinematicConstraint ( )
inlinevirtual

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Member Function Documentation

virtual void bounds ( const double t,
int  n_breaks,
Eigen::VectorXd &  lb,
Eigen::VectorXd &  ub 
) const
pure virtual
void eval ( const double t,
int  n_breaks,
const Eigen::MatrixXd &  q,
Eigen::VectorXd &  c,
Eigen::MatrixXd &  dc 
) const

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virtual void eval_valid ( const double valid_t,
int  num_valid_t,
const Eigen::MatrixXd &  valid_q,
Eigen::VectorXd &  c,
Eigen::MatrixXd &  dc_valid 
) const
pure virtual

Implemented in WorldFixedBodyPoseConstraint, WorldFixedOrientConstraint, and WorldFixedPositionConstraint.

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virtual int getNumConstraint ( const double t,
int  n_breaks 
) const
pure virtual

Implemented in WorldFixedBodyPoseConstraint, WorldFixedOrientConstraint, and WorldFixedPositionConstraint.

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std::vector< bool > isTimeValid ( const double t,
int  n_breaks 
) const

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virtual void name ( const double t,
int  n_breaks,
std::vector< std::string > &  name_str 
) const
pure virtual
int numValidTime ( const double t,
int  n_breaks 
) const
protected

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void updateRobot ( RigidBodyTree< double > *  robot)
virtual

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