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PostureChangeConstraint Class Reference

This constrains that the change of joint i within time tspan must be within [lb,ub]. More...

Inheritance diagram for PostureChangeConstraint:
Collaboration diagram for PostureChangeConstraint:

Public Member Functions

function PostureChangeConstraint (robot, joint_ind, lb_change, ub_change, tspan)
 
function getNumConstraint (obj, t)
 
function feval (obj, t, q)
 c = [q(obj.joint_ind,2)-q(obj.joint_ind,1); q(obj.joint_ind,3)-q(obj.joint_ind,1);;q(obj.joint_ind,n)-q(obj.joint_ind,1)]; valid_flag = obj.isTimeValid(t); More...
 
function geval (obj, t)
 sparse(iAfun,jAvar,A,num_constraint,length(q)) is the gradient of the function feval w.r.t q More...
 
function bounds (obj, t)
 
function name (obj, t)
 
- Public Member Functions inherited from MultipleTimeLinearPostureConstraint
function MultipleTimeLinearPostureConstraint (robot, tspan)
 
function isTimeValid (obj, t)
 
function eval (obj, t, q)
 
function generateConstraint (obj, t)
 
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 

Protected Member Functions

function setJointChangeBounds (obj, joint_ind, lb_change, ub_change)
 

Protected Attributes

Property joint_ind
 
Property lb_change
 
Property ub_change
 
- 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

This constrains that the change of joint i within time tspan must be within [lb,ub].

Parameters
robot
joint_idxA nx1 vector, the index of the joints
lb_changeA nx1 vector, the lower bound of the change of joint angles
ub_changeA nx1 vector, the upper bound of the change of joint angles
tspanA 1x2 vector, the time span. Optional argument. Default is [-inf inf]

Constructor & Destructor Documentation

function PostureChangeConstraint ( robot  ,
joint_ind  ,
lb_change  ,
ub_change  ,
tspan   
)
Return values
obj

Member Function Documentation

function bounds ( obj  ,
 
)
virtual
Return values
lb
ub

Reimplemented from MultipleTimeLinearPostureConstraint.

function feval ( obj  ,
,
 
)
virtual

c = [q(obj.joint_ind,2)-q(obj.joint_ind,1); q(obj.joint_ind,3)-q(obj.joint_ind,1);;q(obj.joint_ind,n)-q(obj.joint_ind,1)]; valid_flag = obj.isTimeValid(t);

Return values
c

Reimplemented from MultipleTimeLinearPostureConstraint.

function getNumConstraint ( obj  ,
 
)
virtual
Return values
num

Reimplemented from MultipleTimeLinearPostureConstraint.

function geval ( obj  ,
 
)
virtual

sparse(iAfun,jAvar,A,num_constraint,length(q)) is the gradient of the function feval w.r.t q

Return values
iAfun
jAvar
A

Reimplemented from MultipleTimeLinearPostureConstraint.

function name ( obj  ,
 
)
virtual
Return values
name_str

Reimplemented from MultipleTimeLinearPostureConstraint.

function setJointChangeBounds ( obj  ,
joint_ind  ,
lb_change  ,
ub_change   
)
protected
Return values
obj

Member Data Documentation

Property joint_ind
protected
Property lb_change
protected
Property ub_change
protected

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