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MultipleTimeLinearPostureConstraint Class Reference

A linear constraint on the robot posture for multiple times. More...

Inheritance diagram for MultipleTimeLinearPostureConstraint:
Collaboration diagram for MultipleTimeLinearPostureConstraint:

Public Member Functions

function MultipleTimeLinearPostureConstraint (robot, tspan)
 
function isTimeValid (obj, t)
 
function eval (obj, t, q)
 
function generateConstraint (obj, t)
 
virtual function getNumConstraint (obj, t)
 
virtual function feval (obj, t, q)
 
virtual function geval (obj, t)
 
virtual function bounds (obj, t)
 
virtual function name (obj, t)
 
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 

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 linear constraint on the robot posture for multiple times.

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

virtual function bounds ( obj  ,
 
)
virtual
Return values
iAfun,jAvar,A- The sparse matrix determined by sparse(iAfun,jAvar,A,num_constraint,numel(q)) is the gradient of c w.r.t q

Reimplemented in PostureChangeConstraint.

function eval ( obj  ,
,
 
)
Return values
c
dc
virtual function feval ( obj  ,
,
 
)
virtual

Reimplemented in PostureChangeConstraint.

function generateConstraint ( obj  ,
 
)
virtual
Return values
cnstr

Reimplemented from RigidBodyConstraint.

virtual function getNumConstraint ( obj  ,
 
)
virtual

Reimplemented in PostureChangeConstraint.

virtual function geval ( obj  ,
 
)
virtual

Reimplemented in PostureChangeConstraint.

function isTimeValid ( obj  ,
 
)
Return values
flag
virtual function name ( obj  ,
 
)
virtual

Reimplemented in PostureChangeConstraint.


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