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KinematicTrajectoryOptimization Class Reference

Abstract class for kinematic planning. More...

Inheritance diagram for KinematicTrajectoryOptimization:
Collaboration diagram for KinematicTrajectoryOptimization:

Public Member Functions

virtual function addConstraint (cnstr, xind)
 
virtual function addSharedDataFunction (fun, xind)
 
virtual function addDecisionVariable (num_var, names)
 
virtual function getN (obj)
 
virtual function getXinds (obj)
 
virtual function getHinds (obj)
 
function KinematicTrajectoryOptimization (robot, initialize_flag)
 
function initialize (obj)
 
function kinematicsData (obj, q)
 
function addKinematicConstraint (obj, constraint, time_index)
 Add a kinematic constraint that is a function of the joint positions at the specified time or times. More...
 
function addRigidBodyConstraint (obj, constraint, time_index)
 Add a kinematic constraint that is a function of the state at the specified time or times. More...
 

Protected Attributes

Property nq
 
Property q_inds
 
Property kinsol_dataind
 
Property qsc_weight_inds
 
Property robot
 

Detailed Description

Abstract class for kinematic planning.

Constructor & Destructor Documentation

function KinematicTrajectoryOptimization ( robot  ,
initialize_flag   
)
Return values
obj

Member Function Documentation

virtual function addConstraint ( cnstr  ,
xind   
)
virtual
virtual function addDecisionVariable ( num_var  ,
names   
)
virtual
function addKinematicConstraint ( obj  ,
constraint  ,
time_index   
)

Add a kinematic constraint that is a function of the joint positions at the specified time or times.

Parameters
constrainta CompositeConstraint
time_indexa cell array of time indices ex1., time_index = {1, 2, 3} means the constraint is applied individually to knot points 1, 2, and 3 ex2,. time_index = {[1 2], [3 4]} means the constraint is applied to knot points 1 and 2 together (taking the combined state as an argument) and 3 and 4 together.
Return values
obj
function addRigidBodyConstraint ( obj  ,
constraint  ,
time_index   
)

Add a kinematic constraint that is a function of the state at the specified time or times.

Parameters
constrainta RigidBodyConstraint object
time_indexa cell array of time indices ex1., time_index = {1, 2, 3} means the constraint is applied individually to knot points 1, 2, and 3 ex2,. time_index = {[1 2], [3 4]} means the constraint is applied to knot points 1 and 2 together (taking the combined state as an argument) and 3 and 4 together.
Return values
obj
virtual function addSharedDataFunction ( fun  ,
xind   
)
virtual
virtual function getHinds ( obj  )
virtual

Reimplemented in testClass.

virtual function getN ( obj  )
virtual

Reimplemented in testClass.

virtual function getXinds ( obj  )
virtual

Reimplemented in testClass.

function initialize ( obj  )
Return values
obj
function kinematicsData ( obj  ,
 
)
Return values
data

Member Data Documentation

Property kinsol_dataind
protected
Property nq
protected
Property q_inds
protected
Property qsc_weight_inds
protected
Property robot
protected

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