Drake
PostureChangeConstraint Class Reference

#include <drake/multibody/rigid_body_constraint.h>

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Public Member Functions

 PostureChangeConstraint (RigidBodyTree< double > *model, const Eigen::VectorXi &joint_ind, const Eigen::VectorXd &lb_change, const Eigen::VectorXd &ub_change, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
virtual ~PostureChangeConstraint ()
 
virtual int getNumConstraint (const double *t, int n_breaks) const
 
virtual void feval (const double *t, int n_breaks, const Eigen::MatrixXd &q, Eigen::VectorXd &c) const
 
virtual void geval (const double *t, int n_breaks, Eigen::VectorXi &iAfun, Eigen::VectorXi &jAvar, Eigen::VectorXd &A) const
 
virtual void name (const double *t, int n_breaks, std::vector< std::string > &name_str) const
 
virtual void bounds (const double *t, int n_breaks, Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
 
- Public Member Functions inherited from MultipleTimeLinearPostureConstraint
 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
 
- 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 setJointChangeBounds (const Eigen::VectorXi &joint_ind, const Eigen::VectorXd &lb_change, const Eigen::VectorXd &ub_change)
 
- Protected Member Functions inherited from MultipleTimeLinearPostureConstraint
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

PostureChangeConstraint ( RigidBodyTree< double > *  model,
const Eigen::VectorXi &  joint_ind,
const Eigen::VectorXd &  lb_change,
const Eigen::VectorXd &  ub_change,
const Eigen::Vector2d tspan = DrakeRigidBodyConstraint::default_tspan 
)

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virtual ~PostureChangeConstraint ( )
inlinevirtual

Member Function Documentation

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

Implements MultipleTimeLinearPostureConstraint.

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

Implements MultipleTimeLinearPostureConstraint.

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

Implements MultipleTimeLinearPostureConstraint.

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

Implements MultipleTimeLinearPostureConstraint.

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

Implements MultipleTimeLinearPostureConstraint.

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void setJointChangeBounds ( const Eigen::VectorXi &  joint_ind,
const Eigen::VectorXd &  lb_change,
const Eigen::VectorXd &  ub_change 
)
protectedvirtual

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