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MultipleTimeKinematicConstraint Class Reference

A abstract class, that its eval function takes multiple time points as the input, instead of being evluated at a single time. More...

Inheritance diagram for MultipleTimeKinematicConstraint:
Collaboration diagram for MultipleTimeKinematicConstraint:

Public Member Functions

function MultipleTimeKinematicConstraint (robot, tspan)
 
function isTimeValid (obj, t)
 
function getTspan (obj)
 
function eval (obj, t, kinsol_cell)
 
function updateRobot (obj, robot)
 
function generateConstraint (obj, t, N)
 generate a FunctionHandleConstraint for postures at all time t More...
 
function kinematicPathJoints (obj)
 return the indices of the joints used to evaluate the constraint. More...
 
virtual function getNumConstraint (obj, N)
 N is the number of knot points considered by this constraint. More...
 
virtual function bounds (obj, t, N)
 
virtual function name (obj, t)
 
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 
virtual function generateConstraint (obj, t)
 

Protected Member Functions

virtual function evalValidTime (obj, valid_kinsol_cell)
 

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

Detailed Description

A abstract class, that its eval function takes multiple time points as the input, instead of being evluated at a single time.

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

virtual function bounds ( obj  ,
,
 
)
virtual
function eval ( obj  ,
,
kinsol_cell   
)
Return values
c
dc
virtual function evalValidTime ( obj  ,
valid_kinsol_cell   
)
protectedvirtual

Reimplemented in WorldFixedOrientConstraint.

function generateConstraint ( obj  ,
,
 
)

generate a FunctionHandleConstraint for postures at all time t

Return values
cnstr
virtual function getNumConstraint ( obj  ,
 
)
virtual

N is the number of knot points considered by this constraint.

function getTspan ( obj  )
Return values
tspan
function isTimeValid ( obj  ,
 
)
Return values
flag
function kinematicPathJoints ( obj  )

return the indices of the joints used to evaluate the constraint.

The default value is (1:obj.robot.getNumPositions);

Return values
joint_idx
virtual function name ( obj  ,
 
)
virtual
function updateRobot ( obj  ,
robot   
)
Return values
obj

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