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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  ,
robot– A RigidBodyManipulator or a TimeSteppingRigidBodyManipulator object
Return values

Member Function Documentation

function bounds ( obj  ,
Return values
function generateConstraint ( obj  ,

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

Return values

Reimplemented from RigidBodyConstraint.

function isTimeValid ( obj  ,
Return values
function setJointLimits ( obj  ,
joint_ind  ,
joint_min  ,
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

Member Data Documentation

Property joint_limit_max0
Property joint_limit_min0
Property lb
Property ub

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