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AllBodiesClosestDistanceConstraint Class Reference

Constraining the closest distance between all bodies to be within [lb,ub]. More...

Inheritance diagram for AllBodiesClosestDistanceConstraint:
Collaboration diagram for AllBodiesClosestDistanceConstraint:

Public Member Functions

function AllBodiesClosestDistanceConstraint (robot, lb, ub, active_collision_options, tspan)
 
function generateConstraint (obj, t)
 
function updateRobot (obj, robot)
 
function bounds (obj, t)
 
function checkConstraint (obj, q)
 
function drawConstraint (obj, q, lcmgl)
 
function name (obj, t)
 
- Public Member Functions inherited from SingleTimeKinematicConstraint
function SingleTimeKinematicConstraint (robot, tspan)
 
function getTspan (obj)
 
function isTimeValid (obj, t)
 
function getNumConstraint (obj, t)
 
function updateRobot (obj, robot)
 
function eval (obj, t, kinsol)
 
function generateConstraint (obj, t)
 generate a FunctionHandleConstraint object if time is valid or if no time is given More...
 
function kinematicsPathJoints (obj)
 return the indices of the joints used to evaluate the constraint. More...
 
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 

Protected Member Functions

function setNumConstraint (obj)
 
function evalValidTime (obj, kinsol)
 
function evalLocal (obj, q_or_kinsol)
 

Protected Attributes

Property ub
 
Property lb
 
Property active_collision_options
 
- Protected Attributes inherited from SingleTimeKinematicConstraint
Property num_constraint
 
- Protected Attributes inherited from RigidBodyConstraint
Property category
 
Property type
 
Property robot
 
Property tspan
 
Property mex_ptr
 

Additional Inherited Members

- Public Attributes inherited from RigidBodyConstraint
Constant Property SingleTimeKinematicConstraintCategory
 
Constant Property MultipleTimeKinematicConstraintCategory
 
Constant Property QuasiStaticConstraintCategory
 
Constant Property PostureConstraintCategory
 
Constant Property MultipleTimeLinearPostureConstraintCategory
 
Constant Property SingleTimeLinearPostureConstraintCategory
 
Constant Property ContactWrenchConstraintCategory
 
Constant Property QuasiStaticConstraintType
 
Constant Property PostureConstraintType
 
Constant Property SingleTimeLinearPostureConstraintType
 
Constant Property AllBodiesClosestDistanceConstraintType
 
Constant Property WorldEulerConstraintType
 
Constant Property WorldGazeDirConstraintType
 
Constant Property WorldGazeOrientConstraintType
 
Constant Property WorldGazeTargetConstraintType
 
Constant Property RelativeGazeTargetConstraintType
 
Constant Property WorldCoMConstraintType
 
Constant Property WorldPositionConstraintType
 
Constant Property WorldPositionInFrameConstraintType
 
Constant Property WorldQuatConstraintType
 
Constant Property Point2PointDistanceConstraintType
 
Constant Property Point2LineSegDistConstraintType
 
Constant Property WorldFixedPositionConstraintType
 
Constant Property WorldFixedOrientConstraintType
 
Constant Property WorldFixedBodyPoseConstraintType
 
Constant Property PostureChangeConstraintType
 
Constant Property RelativePositionConstraintType
 
Constant Property FrictionConeWrenchConstraintType
 
Constant Property LinearFrictionConeWrenchConstraintType
 
Constant Property RailGraspWrenchConstraintType
 
Constant Property RelativeQuatConstraintType
 
Constant Property RelativeGazeDirConstraintType
 
Constant Property MinDistanceConstraintType
 
Constant Property GravityCompensationTorqueConstraintType
 

Detailed Description

Constraining the closest distance between all bodies to be within [lb,ub].

Parameters
lb– a scalar, the lower bound of the distance
ub– a scalar, the upper bound of the distance
tspan– a 1x2 vector, the time span of the constraint being active

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

function bounds ( obj  ,
 
)
virtual
Return values
lb
ub

Reimplemented from SingleTimeKinematicConstraint.

function checkConstraint ( obj  ,
 
)
Return values
constraintSatisfyFlag- A boolean flag, true if the closest distance if within [lb ub]
dist- if constraint is satisfied, dist = [] otherwise, return the dist violates the constraint
ptsA- if constraint is satisfied, ptsA = [] otherwise, return the pts on body A that violate the constraint
ptsB- if constraint is satisfied, ptsB = [] otherwise, return the pts on body B that violate the constraint
idxA- if constraint is satisfied, idxA = [] otherwise, return bodyA index that violate the constraint
idxB- if constraint is satisfied, idxB = [] otherwise, return bodyB index that violate the constraint
function drawConstraint ( obj  ,
,
lcmgl   
)
function evalLocal ( obj  ,
q_or_kinsol   
)
protected
Return values
c
dc
function evalValidTime ( obj  ,
kinsol   
)
protectedvirtual
Return values
c
dc

Reimplemented from SingleTimeKinematicConstraint.

function generateConstraint ( obj  ,
 
)
virtual
Return values
cnstr

Reimplemented from RigidBodyConstraint.

function name ( obj  ,
 
)
virtual
Return values
name

Reimplemented from SingleTimeKinematicConstraint.

function setNumConstraint ( obj  )
protected
Return values
obj
function updateRobot ( obj  ,
robot   
)
Return values
obj

Member Data Documentation

Property active_collision_options
protected
Property lb
protected
Property ub
protected

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