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GravityCompensationTorqueConstraint Class Reference

Constraint on the torque required to keep specified joints static in the face of gravity. More...

Inheritance diagram for GravityCompensationTorqueConstraint:
Collaboration diagram for GravityCompensationTorqueConstraint:

Public Member Functions

function GravityCompensationTorqueConstraint (robot, joint_indices, lb, ub, tspan)
 obj = GravityCompensationTorqueConstraint(robot, joint_indices, lb, ub, tspan) More...
 
function bounds (obj, t)
 
function updateRobot (obj, robot)
 
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 evalValidTime (obj, kinsol)
 

Protected Attributes

Property joint_indices
 
Property lb
 
Property ub
 
- 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

Constraint on the torque required to keep specified joints static in the face of gravity.

This constraint considers gravity only - it does not account for other external forces that might need to be resisted.

Constructor & Destructor Documentation

obj = GravityCompensationTorqueConstraint(robot, joint_indices, lb, ub, tspan)

Parameters
robotRigidBodyManipulator object
joint_indices– column vector containing the indices of the joints to which the constraint will be applied
lb– lower bound on the allowable torques. May be a scalar, or a column vector with the same number of elements as joint_indices
ub– Upper bound on the allowable torques. May be a scalar, or a column vector with the same number of elements as joint_indices
tspan
Return values
obj

Member Function Documentation

function bounds ( obj  ,
 
)
virtual
Return values
lb
ub

Reimplemented from SingleTimeKinematicConstraint.

function evalValidTime ( obj  ,
kinsol   
)
protectedvirtual
Return values
c
dc

Reimplemented from SingleTimeKinematicConstraint.

function name ( obj  ,
 
)
virtual
Return values
name_str

Reimplemented from SingleTimeKinematicConstraint.

function updateRobot ( obj  ,
robot   
)
Return values
obj

Member Data Documentation

Property joint_indices
protected
Property lb
protected
Property ub
protected

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