Drake
WorldPositionInFrameConstraint Class Reference

Constrains the points Q on a body to be within a bounding box specified in a fixed frame F. More...

#include <drake/multibody/rigid_body_constraint.h>

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Public Member Functions

 WorldPositionInFrameConstraint (RigidBodyTree< double > *model, int body, const Eigen::Matrix3Xd &pts, const Eigen::Matrix4d &T_frame_to_world, const Eigen::MatrixXd &lb, const Eigen::MatrixXd &ub, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 Constrains the points Q on a body to be within a bounding box specified in a fixed frame F. More...
 
virtual ~WorldPositionInFrameConstraint ()
 
- Public Member Functions inherited from WorldPositionConstraint
 WorldPositionConstraint (RigidBodyTree< double > *model, int body, const Eigen::Matrix3Xd &pts, Eigen::MatrixXd lb, Eigen::MatrixXd ub, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
virtual ~WorldPositionConstraint ()
 
- Public Member Functions inherited from PositionConstraint
 PositionConstraint (RigidBodyTree< double > *model, const Eigen::Matrix3Xd &pts, Eigen::MatrixXd lb, Eigen::MatrixXd ub, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
virtual ~PositionConstraint (void)
 
virtual void eval (const double *t, KinematicsCache< double > &cache, Eigen::VectorXd &c, Eigen::MatrixXd &dc) const
 
virtual void bounds (const double *t, Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
 
virtual void name (const double *t, std::vector< std::string > &name_str) 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
 

Protected Member Functions

virtual void evalPositions (KinematicsCache< double > &cache, Eigen::Matrix3Xd &pos, Eigen::MatrixXd &J) const
 
virtual void evalNames (const double *t, std::vector< std::string > &cnst_names) const
 
- Protected Member Functions inherited from WorldPositionConstraint
int get_body () const
 
const std::string & get_body_name () const
 
- Protected Member Functions inherited from PositionConstraint
const Eigen::Matrix3Xd & get_pts () const
 
int get_n_pts () const
 
- 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
 

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
 

Detailed Description

Constrains the points Q on a body to be within a bounding box specified in a fixed frame F.

Namely lb ≤ p_FQ ≤ ub.

Constructor & Destructor Documentation

WorldPositionInFrameConstraint ( RigidBodyTree< double > *  model,
int  body,
const Eigen::Matrix3Xd &  pts,
const Eigen::Matrix4d &  T_frame_to_world,
const Eigen::MatrixXd &  lb,
const Eigen::MatrixXd &  ub,
const Eigen::Vector2d tspan = DrakeRigidBodyConstraint::default_tspan 
)

Constrains the points Q on a body to be within a bounding box specified in a fixed frame F.

Parameters
modelThe kinematics model of the whole robot.
bodyThe points Q are rigidly fixed to this body.
ptsThe coordinates of Q in the body frame.
T_frame_to_worldThe homogeneous transform from the frame F to the world frame.
lbThe lower bound of the bounding box.
ubThe upper bound of the bounding box.
tspanThe time span of the constraint.

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Member Function Documentation

void evalNames ( const double t,
std::vector< std::string > &  cnst_names 
) const
protectedvirtual

Reimplemented from WorldPositionConstraint.

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void evalPositions ( KinematicsCache< double > &  cache,
Eigen::Matrix3Xd &  pos,
Eigen::MatrixXd &  J 
) const
protectedvirtual

Reimplemented from WorldPositionConstraint.

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