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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  ,
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

Member Function Documentation

function bounds ( obj  ,
Return values

Reimplemented from SingleTimeKinematicConstraint.

function evalValidTime ( obj  ,
Return values

Reimplemented from SingleTimeKinematicConstraint.

function kinematicsPathJoints ( obj  )
Return values
function name ( obj  ,
Return values

Reimplemented from SingleTimeKinematicConstraint.

Member Data Documentation

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

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