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MinDistanceConstraint Class Reference

Constrains the closest distance between all bodies to be greater than min_distance. More...

Inheritance diagram for MinDistanceConstraint:
Collaboration diagram for MinDistanceConstraint:

Public Member Functions

function MinDistanceConstraint (robot, min_distance, active_collision_options, tspan)
 
function generateConstraint (obj, varargin)
 
function scaleDistance (obj, dist)
 
function penalty (obj, dist)
 [cost, dcost_ddist] = penalty(obj,dist) applies a smooth hinge loss element-wise to dist. More...
 
function excludeCollisionGroups (obj, collision_geometry_group_names)
 
function getNumConstraint (obj, t)
 
function updateRobot (obj, robot)
 
function bounds (obj, t)
 
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)
 

Public Attributes

Property min_distance
 
Property active_collision_options
 
- 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
 

Protected Member Functions

function evalValidTime (obj, kinsol)
 
function evalLocal (obj, q_or_kinsol)
 

Additional Inherited Members

- Protected Attributes inherited from SingleTimeKinematicConstraint
Property num_constraint
 
- Protected Attributes inherited from RigidBodyConstraint
Property category
 
Property type
 
Property robot
 
Property tspan
 
Property mex_ptr
 

Detailed Description

Constrains the closest distance between all bodies to be greater than min_distance.

Parameters
min_distance– a scalar, the lower bound of the distance
tspan– a 1x2 vector, the time span of the constraint being active

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

function bounds ( obj  ,
 
)
virtual
Return values
lb
ub

Reimplemented from SingleTimeKinematicConstraint.

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

Reimplemented from SingleTimeKinematicConstraint.

function excludeCollisionGroups ( obj  ,
collision_geometry_group_names   
)
Return values
obj
function generateConstraint ( obj  ,
varargin   
)
Return values
cnstr
function getNumConstraint ( obj  ,
 
)
Return values
num
function name ( obj  ,
 
)
virtual
Return values
name_str

Reimplemented from SingleTimeKinematicConstraint.

function penalty ( obj  ,
dist   
)

[cost, dcost_ddist] = penalty(obj,dist) applies a smooth hinge loss element-wise to dist.

This hinge loss is given by

\[ c = \begin{cases} -de^{\frac{1}{d}}, & d < 0 \\ 0, & d \ge 0. \end{cases} \]

Return values
cost
dcost_ddist
function scaleDistance ( obj  ,
dist   
)
Return values
scaled_dist
dscaled_dist_ddist
function updateRobot ( obj  ,
robot   
)
Return values
obj

Member Data Documentation

Property active_collision_options
Property min_distance

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