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ComplementaritySingleSideStaticContactConstraint Class Reference

enforce the constraint force*(contact_pos(i)-contact_pos(j)) = 0. More...

Collaboration diagram for ComplementaritySingleSideStaticContactConstraint:

Public Member Functions

function ComplementaritySingleSideStaticContactConstraint (rb_wrench, ncp_tol)
 
function generateConstraint (obj)
 
function nlconEval (obj, kinsol1, kinsol2, lambda, gamma)
 

Protected Attributes

Property rb_wrench
 
Property nlcon
 
Property A_force
 
Property A_torque
 
Property nq
 
Property num_pts
 
Property num_pt_F
 
Property num_lambda
 
Property lambda_idx
 
Property q1_idx
 
Property q2_idx
 
Property gamma1_idx
 
Property gamma2_idx
 
Property dwrenchdlambda
 

Detailed Description

enforce the constraint force*(contact_pos(i)-contact_pos(j)) = 0.

This is going to be used in the case when we know at one knot point the body is in contact, but uncertian whether the contact is active or not for the other knot force = gamma1 contact_pos(i)-contact_pos(j) = gamma2 <gamma1,gamma2> = 0 (elementwise)

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

function generateConstraint ( obj  )
Return values
nlcon
slack_bcon
num_slack
slack_name
function nlconEval ( obj  ,
kinsol1  ,
kinsol2  ,
lambda  ,
gamma   
)
Return values
c
dc

Member Data Documentation

Property A_force
protected
Property A_torque
protected
Property dwrenchdlambda
protected
Property gamma1_idx
protected
Property gamma2_idx
protected
Property lambda_idx
protected
Property nlcon
protected
Property nq
protected
Property num_lambda
protected
Property num_pt_F
protected
Property num_pts
protected
Property q1_idx
protected
Property q2_idx
protected
Property rb_wrench
protected

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