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GraspFrictionConeWrench Class Reference

When consider hand contact, the usual case is that we have a contact patch on the hand, but the contact normal direction is specified on the object being grasped. More...

Inheritance diagram for GraspFrictionConeWrench:
Collaboration diagram for GraspFrictionConeWrench:

Public Member Functions

function GraspFrictionConeWrench (robot, grasp_object_idx, finger_idx, finger_grasp_pt, grasp_object_FC_axis, FC_mu, force_normalization_factor)
 
function evalWrenchConstraint (obj, kinsol, F, slack)
 
function torque (obj)
 
function force (obj)
 
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 RigidBodyContactWrench
function checkForceSize (obj, F)
 

Protected Attributes

Property grasp_object_idx
 
Property finger_idx
 
Property finger_grasp_pt
 
Property grasp_object_FC_axis
 
Property FC_mu
 
Property force_normalization_factor
 
Property cos_theta_square
 where force parameters are the arguments being constrained More...
 
- 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

When consider hand contact, the usual case is that we have a contact patch on the hand, but the contact normal direction is specified on the object being grasped.

This class allows the user to specify a grasp point on the hand, with grasp normal on the object

Constructor & Destructor Documentation

Member Function Documentation

function contactPosition ( obj  ,
kinsol   
)
virtual

Returns the contact positions and its gradient w.r.t q.

Parameters
kinsol– The kinematics tree
Return values
pos– A matrix with 3 rows. pos(:,i) is the i'th contact position
J– A matrix of size prod(size(pos)) x nq. The gradient of pos w.r.t q

Reimplemented from RigidBodyContactWrench.

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

Reimplemented from RigidBodyContactWrench.

function force ( obj  )
virtual
Return values
A

Reimplemented from RigidBodyContactWrench.

function generateWrenchLincon ( obj  )
protectedvirtual
Return values
lincon

Reimplemented from RigidBodyContactWrench.

function torque ( obj  )
virtual
Return values
A

Reimplemented from RigidBodyContactWrench.

Member Data Documentation

Property cos_theta_square
protected

where force parameters are the arguments being constrained

Property FC_mu
protected
Property finger_grasp_pt
protected
Property finger_idx
protected
Property force_normalization_factor
protected
Property grasp_object_FC_axis
protected
Property grasp_object_idx
protected

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