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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

Member Function Documentation

virtual function bounds ( obj  ,
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
virtual function feval ( obj  ,

Reimplemented in PostureChangeConstraint.

function generateConstraint ( obj  ,
Return values

Reimplemented from RigidBodyConstraint.

virtual function getNumConstraint ( obj  ,

Reimplemented in PostureChangeConstraint.

virtual function geval ( obj  ,

Reimplemented in PostureChangeConstraint.

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

Reimplemented in PostureChangeConstraint.

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