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QuasiStaticConstraint Class Reference

constrain the Center of Mass to lie inside the shrunk support polygon More...

Inheritance diagram for QuasiStaticConstraint:
Collaboration diagram for QuasiStaticConstraint:

Public Member Functions

function QuasiStaticConstraint (robot, tspan, robotnum)
 
function isTimeValid (obj, t)
 
function setActive (obj, flag)
 
function getNumConstraint (obj, t)
 
function addContact (obj, varargin)
 obj.addContact(body1,body1_pts,body2,body2_pts,,bodyN,bodyN_pts) if obj.mex_ptr~=0 More...
 
function setShrinkFactor (obj, factor)
 
function eval (obj, t, kinsol, weights)
 
function evalValidTime (obj, kinsol, weights)
 
function checkConstraint (obj, kinsol)
 
function bounds (obj, t)
 
function name (obj, t)
 
function updateRobotnum (obj, robotnum)
 
function updateRobot (obj, robot)
 
function generateConstraint (obj, t)
 generate a FunctionHandleConstraint, a LinearConstraint and a BoundingBoxConstraint if the time is valid More...
 
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 

Protected Attributes

Property robotnum
 
Property shrinkFactor
 
Property active
 
Property num_pts
 
Property bodies
 
Property body_pts
 
Property nq
 
Property num_bodies
 
Property num_body_pts
 
Property plane_row_idx
 
- 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 Center of Mass to lie inside the shrunk support polygon

Parameters
active– A flag, true if the quasiStaticFlag would be active
num_bodies– An int, the total number of bodies that have active ground contact points
bodies– An int array of size 1xnum_bodies. The index of each ground contact body
num_body_pts– An int array of size 1xnum_bodies. The number of active contact points in each body
body_pts– A cell array of size 1xnum_bodies. body_pts{i} is a 3xnum_body_pts(i) double array, which is the active ground contact points in the body frame
robotnum– The robotnum to compute CoM. Default is 1

Constructor & Destructor Documentation

function QuasiStaticConstraint ( robot  ,
tspan  ,
robotnum   
)
Return values
obj

Member Function Documentation

function addContact ( obj  ,
varargin   
)

obj.addContact(body1,body1_pts,body2,body2_pts,,bodyN,bodyN_pts) if obj.mex_ptr~=0

Return values
obj
function bounds ( obj  ,
 
)
Return values
lb
ub
function checkConstraint ( obj  ,
kinsol   
)
Return values
flag
function eval ( obj  ,
,
kinsol  ,
weights   
)
Return values
c
dc
function evalValidTime ( obj  ,
kinsol  ,
weights   
)
Return values
c
dc
function generateConstraint ( obj  ,
 
)
virtual

generate a FunctionHandleConstraint, a LinearConstraint and a BoundingBoxConstraint if the time is valid

Return values
cnstr– A FunctionHandleConstraint enforcing the CoM on xy-plane matches witht the weighted sum of the shrunk vertices; A LinearConstraint on the weighted sum only, and a BoundingBoxConstraint on the weighted sum only

Reimplemented from RigidBodyConstraint.

function getNumConstraint ( obj  ,
 
)
Return values
num_cnst
function isTimeValid ( obj  ,
 
)
Return values
flag
function name ( obj  ,
 
)
Return values
name_str
function setActive ( obj  ,
flag   
)
Return values
obj
function setShrinkFactor ( obj  ,
factor   
)
Return values
obj
function updateRobot ( obj  ,
robot   
)
Return values
obj
function updateRobotnum ( obj  ,
robotnum   
)
Return values
obj

Member Data Documentation

Property active
protected
Property bodies
protected
Property body_pts
protected
Property nq
protected
Property num_bodies
protected
Property num_body_pts
protected
Property num_pts
protected
Property plane_row_idx
protected
Property robotnum
protected
Property shrinkFactor
protected

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