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PostureConstraint Class Reference

A bounding box constraint on robot posture. More...

Inheritance diagram for PostureConstraint:
Collaboration diagram for PostureConstraint:

Public Member Functions

function PostureConstraint (robot, tspan)
 
function isTimeValid (obj, t)
 
function setJointLimits (obj, joint_ind, joint_min, joint_max)
 
function bounds (obj, t)
 
function generateConstraint (obj, t)
 generate a BoundingBoxConstraint on the robot posture if t is a valid time or if no time is given More...
 
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 

Protected Attributes

Property lb
 
Property ub
 
Property joint_limit_min0
 
Property joint_limit_max0
 
- 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

A bounding box constraint on robot posture.

Constructor & Destructor Documentation

function PostureConstraint ( robot  ,
tspan   
)
Parameters
robot– A RigidBodyManipulator or a TimeSteppingRigidBodyManipulator object
Return values
obj

Member Function Documentation

function bounds ( obj  ,
 
)
Return values
lb
ub
function generateConstraint ( obj  ,
 
)
virtual

generate a BoundingBoxConstraint on the robot posture if t is a valid time or if no time is given

Return values
cnstr

Reimplemented from RigidBodyConstraint.

function isTimeValid ( obj  ,
 
)
Return values
flag
function setJointLimits ( obj  ,
joint_ind  ,
joint_min  ,
joint_max   
)
Parameters
joint_indA column vector. The indices of the joints whose joint limits are to be set
joint_minA column vector of the same size as joint_ind. The lower bound of the joints are max([robot.joint_limit_min(joint_ind) joint_min]),[],2);
joint_maxA column vector of the same size as joint_ind. The upper bound of the joints are min([robot.joint_limit_max(joint_ind) joint_max]),[],2);
Return values
obj

Member Data Documentation

Property joint_limit_max0
protected
Property joint_limit_min0
protected
Property lb
protected
Property ub
protected

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