Drake
SingleTimeKinematicConstraintWrapper Class Reference

#include <drake/multibody/constraint_wrappers.h>

Inheritance diagram for SingleTimeKinematicConstraintWrapper:
Collaboration diagram for SingleTimeKinematicConstraintWrapper:

Public Member Functions

 SingleTimeKinematicConstraintWrapper (const SingleTimeKinematicConstraint *rigid_body_constraint, KinematicsCacheHelper< double > *kin_helper)
 All pointers are aliased for the lifetime of the wrapper. More...
 
 ~SingleTimeKinematicConstraintWrapper () override
 
- 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

SingleTimeKinematicConstraintWrapper ( const SingleTimeKinematicConstraint rigid_body_constraint,
KinematicsCacheHelper< double > *  kin_helper 
)

All pointers are aliased for the lifetime of the wrapper.

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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: