Drake
RigidBodyDistanceConstraint Struct Reference

Defines a "relative distance constraint" that models a constraint between points on two different rigid bodies. More...

#include <drake/attic/multibody/rigid_body_distance_constraint.h>

Collaboration diagram for RigidBodyDistanceConstraint:
[legend]

Public Member Functions

 RigidBodyDistanceConstraint (int bodyA_index_in, const Eigen::Vector3d &r_AP_in, int bodyB_index_in, const Eigen::Vector3d &r_BQ_in, double distance_in)
 The constructor. More...
 

Public Attributes

const int bodyA_index
 
const int bodyB_index
 
const Eigen::Vector3d r_AP
 
const Eigen::Vector3d r_BQ
 
const double distance
 

Detailed Description

Defines a "relative distance constraint" that models a constraint between points on two different rigid bodies.

The relative distance constraint is specified by the indexes of two different RigidBody objects (bodyA and bodyB), two Vector3d objects representing a point relative to the origin on each RigidBody object (r_AP and r_BQ), and a distance between these two points (distance).

Constructor & Destructor Documentation

RigidBodyDistanceConstraint ( int  bodyA_index_in,
const Eigen::Vector3d &  r_AP_in,
int  bodyB_index_in,
const Eigen::Vector3d &  r_BQ_in,
double  distance_in 
)

The constructor.

Parameters
[in]bodyA_index_inIndex of first RigidBody involved in constraint.
[in]r_AP_inPoint on first RigidBody to measure distance from.
[in]bodyB_index_inIndex of second RigidBody involved in constraint.
[in]r_BQ_inPoint on second RigidBody to measure distance from.
[in]distance_inDistance the two points should be separated by.

Member Data Documentation

const int bodyA_index
const int bodyB_index
const double distance
const Eigen::Vector3d r_AP
const Eigen::Vector3d r_BQ

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