Drake
QuasiStaticConstraintWrapper Class Reference

#include <drake/multibody/constraint_wrappers.h>

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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
template<typename DerivedLB , typename DerivedUB >
 Constraint (int num_constraints, int num_vars, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub, const std::string &description="")
 Constructs a constraint which has num_constraints rows, with an input num_vars x 1 vector. More...
 
 Constraint (int num_constraints, int num_vars)
 Constructs a constraint which has num_constraints rows, with an input num_vars x 1 vector, with no bounds. More...
 
bool CheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, 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, double tol=1E-6) const
 
const Eigen::VectorXd & lower_bound () const
 
const Eigen::VectorXd & upper_bound () const
 
size_t num_constraints () const
 Number of rows in the output constraint. More...
 
template<typename Derived >
void UpdateLowerBound (const Eigen::MatrixBase< Derived > &new_lb)
 Updates the lower bound. More...
 
template<typename Derived >
void UpdateUpperBound (const Eigen::MatrixBase< Derived > &new_ub)
 Updates the upper bound. More...
 
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...
 
 Constraint (const Constraint &)=delete
 
Constraintoperator= (const Constraint &)=delete
 
 Constraint (Constraint &&)=delete
 
Constraintoperator= (Constraint &&)=delete
 
- Public Member Functions inherited from EvaluatorBase
virtual ~EvaluatorBase ()
 
void Eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd &y) const
 Evaluates the expression with a scalar type of double. More...
 
void Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd &y) const
 Evaluates the expression with a scalar type of AutoDiffXd. More...
 
void set_description (const std::string &description)
 Set a human-friendly description for the evaluator. More...
 
const std::string & get_description () const
 Getter for a human-friendly description for the evaluator. More...
 
int num_vars () const
 Getter for the number of variables, namely the number of rows in x, as used in Eval(x, y). More...
 
int num_outputs () const
 Getter for the number of outputs, namely the number of rows in y, 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
 Implements expression evaluation for scalar type double. More...
 
void DoEval (const Eigen::Ref< const AutoDiffVecXd > &tq, AutoDiffVecXd &ty) const override
 Implements expression evaluation for scalar type AutoDiffXd. More...
 
- Protected Member Functions inherited from Constraint
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
 
- Protected Member Functions inherited from EvaluatorBase
 EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
 Constructs a evaluator. 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 > &  x,
Eigen::VectorXd &  y 
) const
overrideprotectedvirtual

Implements expression evaluation for scalar type double.

Parameters
xInput vector.
yOutput vector.
Precondition
x must be of size num_vars x 1.
Postcondition
y will be of size num_outputs x 1.

Implements EvaluatorBase.

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void DoEval ( const Eigen::Ref< const AutoDiffVecXd > &  x,
AutoDiffVecXd y 
) const
overrideprotectedvirtual

Implements expression evaluation for scalar type AutoDiffXd.

Parameters
xInput vector.
yOutput vector.
Precondition
x must be of size num_vars x 1.
Postcondition
y will be of size num_outputs x 1.

Implements EvaluatorBase.

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