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ComplementarityLinearFrictionConeWrench Class Reference

Implement the slack variable version of complementarity constraint. More...

Inheritance diagram for ComplementarityLinearFrictionConeWrench:
Collaboration diagram for ComplementarityLinearFrictionConeWrench:

Public Member Functions

function ComplementarityLinearFrictionConeWrench (robot, body, body_pts, FC_edge, phi_handle, ncp_tol)
 
function evalWrenchConstraint (obj, kinsol, F, slack)
 
- Public Member Functions inherited from LinearFrictionConeWrench
function LinearFrictionConeWrench (robot, body, body_pts, FC_edge)
 the linearized friction cone in the world frame. More...
 
function evalWrenchConstraint (obj, kinsol, F, slack)
 return the constraint. There is no nonlinear constraint on the force paramter More...
 
function torque (obj)
 Compute the torque at each contact point from the force parameter. More...
 
function force (obj)
 Compute the indivisual force from the force parameters F. More...
 
function contactPosition (obj, kinsol)
 Returns the contact positions and its gradient w.r.t q. More...
 
- Public Member Functions inherited from RigidBodyContactWrench
function RigidBodyContactWrench (robot, body, body_pts)
 
function generateWrenchConstraint (obj)
 

Protected Member Functions

function generateWrenchLincon (obj)
 
- Protected Member Functions inherited from LinearFrictionConeWrench
function generateWrenchLincon (obj)
 
- Protected Member Functions inherited from RigidBodyContactWrench
function checkForceSize (obj, F)
 

Protected Attributes

Property phi_handle
 
- Protected Attributes inherited from LinearFrictionConeWrench
Property normal_dir
 
Property FC_edge
 
- Protected Attributes inherited from RigidBodyContactWrench
Property robot
 
Property body
 
Property body_name
 
Property body_pts
 
Property num_pts
 of the contact point on the body frame. More...
 
Property num_wrench_constraint
 
Property num_pt_F
 
Property F_lb
 
Property F_ub
 force parameters More...
 
Property wrench_iCfun
 force parameters More...
 
Property wrench_jCvar
 
Property wrench_cnstr_ub
 
Property wrench_cnstr_lb
 
Property wrench_cnstr_name
 
Property contact_force_type
 
Property num_slack
 
Property slack_name
 
Property slack_lb
 
Property slack_ub
 
Property kinematics_chain_idx
 
Property complementarity_flag
 

Additional Inherited Members

- Public Attributes inherited from RigidBodyContactWrench
Constant Property FrictionConeType
 
Constant Property LinearFrictionConeType
 
Constant Property GraspType
 
Constant Property GraspFrictionConeType
 

Detailed Description

Implement the slack variable version of complementarity constraint.

force >= 0 (bcon) distance - gamma = 0 (nlcon) <force,gamma> = 0 (nlcon) gamma >= 0 (bcon)

Constructor & Destructor Documentation

function ComplementarityLinearFrictionConeWrench ( robot  ,
body  ,
body_pts  ,
FC_edge  ,
phi_handle  ,
ncp_tol   
)
Return values
obj

Member Function Documentation

function evalWrenchConstraint ( obj  ,
kinsol  ,
,
slack   
)
virtual
Return values
c
dc

Reimplemented from RigidBodyContactWrench.

function generateWrenchLincon ( obj  )
protectedvirtual
Return values
lincon

Reimplemented from RigidBodyContactWrench.

Member Data Documentation

Property phi_handle
protected

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