Drake
MultipleTimeLinearPostureConstraint Class Referenceabstract

#include <drake/multibody/rigid_body_constraint.h>

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Public Member Functions

 MultipleTimeLinearPostureConstraint (RigidBodyTree< double > *model, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
virtual ~MultipleTimeLinearPostureConstraint ()
 
std::vector< boolisTimeValid (const double *t, int n_breaks) const
 
void eval (const double *t, int n_breaks, const Eigen::MatrixXd &q, Eigen::VectorXd &c, Eigen::SparseMatrix< double > &dc) const
 
virtual int getNumConstraint (const double *t, int n_breaks) const =0
 
virtual void feval (const double *t, int n_breaks, const Eigen::MatrixXd &q, Eigen::VectorXd &c) const =0
 
virtual void geval (const double *t, int n_breaks, Eigen::VectorXi &iAfun, Eigen::VectorXi &jAvar, Eigen::VectorXd &A) const =0
 
virtual void name (const double *t, int n_breaks, std::vector< std::string > &name_str) const =0
 
virtual void bounds (const double *t, int n_breaks, Eigen::VectorXd &lb, Eigen::VectorXd &ub) const =0
 
- 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 std::vector< bool > &valid_flag) const
 
void validTimeInd (const std::vector< bool > &valid_flag, Eigen::VectorXi &valid_t_ind) 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 ~MultipleTimeLinearPostureConstraint ( )
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

Implemented in PostureChangeConstraint.

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void eval ( const double t,
int  n_breaks,
const Eigen::MatrixXd &  q,
Eigen::VectorXd &  c,
Eigen::SparseMatrix< double > &  dc 
) const

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virtual void feval ( const double t,
int  n_breaks,
const Eigen::MatrixXd &  q,
Eigen::VectorXd &  c 
) const
pure virtual

Implemented in PostureChangeConstraint.

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

Implemented in PostureChangeConstraint.

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virtual void geval ( const double t,
int  n_breaks,
Eigen::VectorXi &  iAfun,
Eigen::VectorXi &  jAvar,
Eigen::VectorXd &  A 
) const
pure virtual

Implemented in PostureChangeConstraint.

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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

Implemented in PostureChangeConstraint.

int numValidTime ( const std::vector< bool > &  valid_flag) const
protected

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void validTimeInd ( const std::vector< bool > &  valid_flag,
Eigen::VectorXi &  valid_t_ind 
) const
protected

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