All Classes Files Functions Variables
RelativeGazeDirConstraint Class Reference

This constrains that an axis on body A is aligned with a direction on body B to within a given threshold. More...

Inheritance diagram for RelativeGazeDirConstraint:
Collaboration diagram for RelativeGazeDirConstraint:

Public Member Functions

function RelativeGazeDirConstraint (robot, body_a, body_b, axis, dir, conethreshold, tspan)
function name (obj, t)
function drawConstraint (obj, q, lcmgl)
function kinematicsPathJoints (obj)
- Public Member Functions inherited from GazeDirConstraint
function GazeDirConstraint (robot, axis, dir, conethreshold, tspan)
function bounds (obj, t)
- Public Member Functions inherited from GazeConstraint
function GazeConstraint (robot, axis, conethreshold, tspan)
- Public Member Functions inherited from SingleTimeKinematicConstraint
function SingleTimeKinematicConstraint (robot, tspan)
function getTspan (obj)
function isTimeValid (obj, t)
function getNumConstraint (obj, t)
function updateRobot (obj, robot)
function eval (obj, t, kinsol)
function generateConstraint (obj, t)
 generate a FunctionHandleConstraint object if time is valid or if no time is given More...
function kinematicsPathJoints (obj)
 return the indices of the joints used to evaluate the constraint. More...
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
function categoryString (obj)

Protected Member Functions

function evalValidTime (obj, kinsol)

Protected Attributes

Property body_a
Property body_b
- Protected Attributes inherited from GazeDirConstraint
Property dir
- Protected Attributes inherited from GazeConstraint
Property axis
Property conethreshold
- Protected Attributes inherited from SingleTimeKinematicConstraint
Property num_constraint
- 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 an axis on body A is aligned with a direction on body B to within a given threshold.

body_a– A scalar, the index of body_a
body_b– A scalar, the index of body_b
axis– A 3x1 unit vector, in the body_a frame
dir– A 3x1 unit vector, in the body_b frame
conethreshold– A double scalar, the angle of the gaze cone, default is 0
tspan– A 1x2 vector, the time span of the constraint, default is [-inf inf]

Constructor & Destructor Documentation

function RelativeGazeDirConstraint ( robot  ,
body_a  ,
body_b  ,
axis  ,
dir  ,
conethreshold  ,
Return values

Member Function Documentation

function drawConstraint ( obj  ,
function evalValidTime ( obj  ,
Return values

Reimplemented from SingleTimeKinematicConstraint.

function kinematicsPathJoints ( obj  )
Return values
function name ( obj  ,
Return values

Reimplemented from SingleTimeKinematicConstraint.

Member Data Documentation

Property body_a
Property body_b

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