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RelativeFixedPositionConstraint Class Reference

constrain the position of point body_pts_A on body_A to be fixed in a given body body_B More...

Inheritance diagram for RelativeFixedPositionConstraint:
Collaboration diagram for RelativeFixedPositionConstraint:

Public Member Functions

function RelativeFixedPositionConstraint (robot, body_A, body_pts_A, body_B, num_postures)
 
- Public Member Functions inherited from Constraint
function Constraint (lb, ub, xdim, options)
 Constraint(lb,ub) or Constraint(lb,ub,eval_handle) More...
 
function setSparseStructure (obj, iCfun, jCvar)
 set the sparse structure of the 1st order gradient matrix More...
 
function getGradientSparseStructure (obj)
 
function checkGradient (obj, tol, varargin)
 Check the accuracy and sparsity pattern of the gradient. More...
 
function setName (obj, name)
 
function disp (obj)
 
function eval (obj, varargin)
 
function setBounds (obj, lb, ub)
 revise the bounds for the constraint More...
 

Protected Member Functions

function constraintEval (obj, varargin)
 [c,dc] = constraintEval(obj,q,kinsol1,kinsol2,,kinsol_num_postures) if(nargin ~= 2+obj.num_postures) More...
 

Protected Attributes

Property robot
 
Property body_A
 
Property body_pts_A
 
Property body_B
 
Property body_A_name
 
Property body_B_name
 
Property num_postures
 
Property num_pts
 
- Protected Attributes inherited from Constraint
Property lb
 
Property ub
 
Property xdim
 
Property num_cnstr
 
Property name
 
Property ceq_idx
 
Property cin_idx
 

Additional Inherited Members

- Public Attributes inherited from Constraint
Property grad_level
 
Property grad_method
 A string indicating the method to compute gradient. If empty,. More...
 

Detailed Description

constrain the position of point body_pts_A on body_A to be fixed in a given body body_B

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

function constraintEval ( obj  ,
varargin   
)
protectedvirtual

[c,dc] = constraintEval(obj,q,kinsol1,kinsol2,,kinsol_num_postures) if(nargin ~= 2+obj.num_postures)

Return values
c
dc

Reimplemented from Constraint.

Member Data Documentation

Property body_A
protected
Property body_A_name
protected
Property body_B
protected
Property body_B_name
protected
Property body_pts_A
protected
Property num_postures
protected
Property num_pts
protected
Property robot
protected

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