Drake
RigidBodyConstraint Class Referenceabstract

base class. More...

#include <drake/multibody/rigid_body_constraint.h>

Inheritance diagram for RigidBodyConstraint:
[legend]
Collaboration diagram for RigidBodyConstraint:
[legend]

Public Member Functions

 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
 

Static Public Attributes

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

std::string getTimeString (const double *t) const
 
void set_type (int type)
 
void set_robot (RigidBodyTree< double > *robot)
 
const doubletspan () const
 

Detailed Description

base class.

All constraints used in the inverse kinematics problem are inherited from RigidBodyConstraint. There are 6 main categories of the RigidBodyConstraint, each category has its own interface

Constructor & Destructor Documentation

Here is the call graph for this function:

~RigidBodyConstraint ( void  )
pure virtual

Member Function Documentation

int getCategory ( ) const
inline

Here is the caller graph for this function:

RigidBodyTree<double>* getRobotPointer ( ) const
inline

Here is the caller graph for this function:

std::string getTimeString ( const double t) const
protected

Here is the call graph for this function:

Here is the caller graph for this function:

int getType ( ) const
inline
void set_robot ( RigidBodyTree< double > *  robot)
inlineprotected

Here is the caller graph for this function:

void set_type ( int  type)
inlineprotected

Here is the caller graph for this function:

const double* tspan ( ) const
inlineprotected

Here is the caller graph for this function:

Member Data Documentation

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

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