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Point2PointDistanceConstraint Class Reference

constrain the distance between ptA(:,i) on body A to ptB(:,i) on body B to be within the range of [lb(i) ub(i)]. More...

Inheritance diagram for Point2PointDistanceConstraint:
Collaboration diagram for Point2PointDistanceConstraint:

Public Member Functions

function Point2PointDistanceConstraint (robot, body_a, body_b, ptA, ptB, dist_lb, dist_ub, tspan)
 
function bounds (obj, t)
 
function name (obj, t)
 
function kinematicsPathJoints (obj)
 
- 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)
 

Protected Member Functions

function evalValidTime (obj, kinsol)
 

Protected Attributes

Property body_a
 
Property body_b
 
Property ptA
 
Property ptB
 
Property dist_lb
 
Property dist_ub
 
- Protected Attributes inherited from SingleTimeKinematicConstraint
Property num_constraint
 
- Protected Attributes inherited from RigidBodyConstraint
Property category
 
Property type
 
Property robot
 
Property tspan
 
Property mex_ptr
 

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
 

Detailed Description

constrain the distance between ptA(:,i) on body A to ptB(:,i) on body B to be within the range of [lb(i) ub(i)].

To avoid singularity, the constraint is distance^2 in [lb^2 ub^2]

Constructor & Destructor Documentation

function Point2PointDistanceConstraint ( robot  ,
body_a  ,
body_b  ,
ptA  ,
ptB  ,
dist_lb  ,
dist_ub  ,
tspan   
)
Parameters
robotRigidBodyManipulator object
body_a– Either:
  • An integer body index or frame id OR
  • A string containing a body or frame name
body_b– Either:
  • An integer body index or frame id OR
  • A string containing a body or frame name
ptA– A 3xnpts vector. The location of ptA in body A frame
ptB– A 3xnpts vector. The location of ptB in body B frame
dist_lb– A 1xnpts nonnegative vector. the lower bound of the distance
dist_ub– A 1xnpts nonnegative vector. the upper bound of the distance
tspan– A 1x2 array, the time span of the constraint. Optional argument, default is [-inf inf]
Return values
obj

Member Function Documentation

function bounds ( obj  ,
 
)
virtual
Return values
lb
ub

Reimplemented from SingleTimeKinematicConstraint.

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

Reimplemented from SingleTimeKinematicConstraint.

function kinematicsPathJoints ( obj  )
Return values
joint_idx
function name ( obj  ,
 
)
virtual
Return values
name_str

Reimplemented from SingleTimeKinematicConstraint.

Member Data Documentation

Property body_a
protected
Property body_b
protected
Property dist_lb
protected
Property dist_ub
protected
Property ptA
protected
Property ptB
protected

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