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Kinematic Class Reference

Abstract parent class for kinematic functions All children of this class take the joint-angles of a specific RigidBodyManipulator as their input. More...

Inheritance diagram for Kinematic:
Collaboration diagram for Kinematic:

Public Member Functions

function Kinematic (rbm, dim_output)
 
function setSparsityPattern (obj)
 
function setRigidBodyManipulator (obj, rbm)
 

Protected Member Functions

function kinematicsPathJoints (obj)
 joint_idx = kinematicsPathJoints(obj) return the indices of the joints used to evaluate the constraint. More...
 

Detailed Description

Abstract parent class for kinematic functions All children of this class take the joint-angles of a specific RigidBodyManipulator as their input.

Constructor & Destructor Documentation

function Kinematic ( rbm  ,
dim_output   
)
Parameters
rbm– [TimeStepping]RigidBodyManipulator object
output_frameCoordinateFrame object
Return values
obj– drakeFunction.kinematic.Kinematic object

Member Function Documentation

function kinematicsPathJoints ( obj  )
protected

joint_idx = kinematicsPathJoints(obj) return the indices of the joints used to evaluate the constraint.

Should be overloaded by child classes.

Parameters
obj– drakeFunction.kinematic.Kinematic object
Return values
joint_idx– Indices of the joints involved in this constraint. Optional
Default: (1:obj.robot.getNumPositions());
function setRigidBodyManipulator ( obj  ,
rbm   
)
Return values
obj
function setSparsityPattern ( obj  )
Return values
obj

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