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GraspWrench Class Reference

A force and a torque can be applied at a single contact point. More...

Inheritance diagram for GraspWrench:
Collaboration diagram for GraspWrench:

Public Member Functions

function GraspWrench (robot, body, grasp_pt, force_max, A_torque, b_torque_lb, b_torque_ub)
 
function evalWrenchConstraint (obj, kinsol, F, slack)
 
function force (obj)
 
function torque (obj)
 
function contactPosition (obj, kinsol)
 
- 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 force_max
 
Property num_torque_cnstr
 
Property A_torque
 
Property b_torque_ub
 
Property b_torque_lb
 
- 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

A force and a torque can be applied at a single contact point.

The force is constrained to be within a sphere, namely it has a maximum magnitude, but arbitrary direction. The torque is constrained within a polytope F = [force_x;force_y;force_z;torque_x;torque_y;torque_z];

Constructor & Destructor Documentation

function GraspWrench ( robot  ,
body  ,
grasp_pt  ,
force_max  ,
A_torque  ,
b_torque_lb  ,
b_torque_ub   
)
Parameters
robotA RigidBodyManipulator or a TimeSteppingRigidBodyManipulator
bodyAn integer. The index of the contact body
grasp_ptA 3 x 1 vector. The coordinate of the grasping point on the body frame
force_maxA positive double. The magnitude of the maximum contact force
A_torqueAn n x 3 matrix. b_torque_lb <= A_torque*torque<=b_torque_ub
b_torque_lbAn n x 1 vector.
b_torque_ubAn n x 1 vector.
Return values
obj

Member Function Documentation

function contactPosition ( obj  ,
kinsol   
)
virtual
Return values
pos
J

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 A_torque
protected
Property b_torque_lb
protected
Property b_torque_ub
protected
Property force_max
protected
Property num_torque_cnstr
protected

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