Drake
QuasiStaticConstraintWrapper Class Reference

#include <drake/multibody/constraint_wrappers.h>

Inheritance diagram for QuasiStaticConstraintWrapper:
Collaboration diagram for QuasiStaticConstraintWrapper:

Public Member Functions

 QuasiStaticConstraintWrapper (const QuasiStaticConstraint *rigid_body_constraint, KinematicsCacheHelper< double > *kin_helper)
 All pointers are aliased for the lifetime of the wrapper. More...
 
virtual ~QuasiStaticConstraintWrapper ()
 
- Public Member Functions inherited from Constraint
 Constraint (const Constraint &)=delete
 
Constraintoperator= (const Constraint &)=delete
 
 Constraint (Constraint &&)=delete
 
Constraintoperator= (Constraint &&)=delete
 
- Public Member Functions inherited from EvaluatorBase
template<typename DerivedLB , typename DerivedUB >
 EvaluatorBase (size_t num_constraints, int num_vars, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub)
 
template<typename DerivedLB , typename DerivedUB >
 EvaluatorBase (size_t num_constraints, int num_vars, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub, const std::string &description)
 
virtual ~EvaluatorBase ()
 
void Eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd &y) const
 
void Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd &y) const
 
bool CheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, const double tol=1E-6) const
 Return whether this constraint is satisfied by the given value, x. More...
 
bool CheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, const double tol=1E-6) const
 
Eigen::VectorXd const & lower_bound () const
 
Eigen::VectorXd const & upper_bound () const
 
size_t num_constraints () const
 
template<typename Derived >
void UpdateLowerBound (const Eigen::MatrixBase< Derived > &new_lb)
 
template<typename Derived >
void UpdateUpperBound (const Eigen::MatrixBase< Derived > &new_ub)
 
void set_description (const std::string &description)
 
const std::string & get_description () const
 
template<typename DerivedL , typename DerivedU >
void set_bounds (const Eigen::MatrixBase< DerivedL > &lower_bound, const Eigen::MatrixBase< DerivedU > &upper_bound)
 Set the upper and lower bounds of the constraint. More...
 
int num_vars () const
 Getter for the number of variables in the constraint, namely the number of rows in x, as used in Eval(x, y). More...
 
 EvaluatorBase (const EvaluatorBase &)=delete
 
EvaluatorBaseoperator= (const EvaluatorBase &)=delete
 
 EvaluatorBase (EvaluatorBase &&)=delete
 
EvaluatorBaseoperator= (EvaluatorBase &&)=delete
 

Protected Member Functions

void DoEval (const Eigen::Ref< const Eigen::VectorXd > &q, Eigen::VectorXd &y) const override
 
void DoEval (const Eigen::Ref< const AutoDiffVecXd > &tq, AutoDiffVecXd &ty) const override
 
- Protected Member Functions inherited from EvaluatorBase
virtual bool DoCheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, const double tol) const
 
virtual bool DoCheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, const double tol) const
 
 EvaluatorBase (size_t num_constraints, int num_vars)
 Constructs a constraint which has num_constraints rows, with input variables to Eval a num_vars x 1 vector. More...
 

Constructor & Destructor Documentation

QuasiStaticConstraintWrapper ( const QuasiStaticConstraint rigid_body_constraint,
KinematicsCacheHelper< double > *  kin_helper 
)

All pointers are aliased for the lifetime of the wrapper.

Also, the wrapped QuasiStaticConstraint claims to have three constraints, but the third was handled differently in the original SNOPT implementation, which we won't try to reproduce here.

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Member Function Documentation

void DoEval ( const Eigen::Ref< const Eigen::VectorXd > &  q,
Eigen::VectorXd &  y 
) const
overrideprotectedvirtual

Implements EvaluatorBase.

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void DoEval ( const Eigen::Ref< const AutoDiffVecXd > &  tq,
AutoDiffVecXd ty 
) const
overrideprotectedvirtual

Implements EvaluatorBase.

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