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RelativeGazeTargetConstraint Class Reference

This constrains that a camera on body_a can gaze at a point on body_b. More...

Inheritance diagram for RelativeGazeTargetConstraint:
Collaboration diagram for RelativeGazeTargetConstraint:

Public Member Functions

function RelativeGazeTargetConstraint (robot, body_a, body_b, axis, target, gaze_origin, conethreshold, tspan)
 
function name (obj, t)
 
function drawConstraint (obj, q, lcmgl)
 
function kinematicsPathJoints (obj)
 
- Public Member Functions inherited from GazeTargetConstraint
function GazeTargetConstraint (robot, axis, target, gaze_origin, 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 GazeTargetConstraint
Property target
 
Property gaze_origin
 
- 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 a camera on body_a can gaze at a point on body_b.

Parameters
robot
body_a– A scalar, the index of body_a
body_b– A scalar, the index of body_b
axis– A 3x1 unit vector, the gaze axis on body_a frame
target– A 3x1 vector, the gaze target on body_b frame
gaze_origin– A 3x1 vector, the gaze origin on body_a 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 RelativeGazeTargetConstraint ( robot  ,
body_a  ,
body_b  ,
axis  ,
target  ,
gaze_origin  ,
conethreshold  ,
tspan   
)
Return values
obj

Member Function Documentation

function drawConstraint ( obj  ,
,
lcmgl   
)
function evalValidTime ( obj  ,
kinsol   
)
protectedvirtual
Return values
c
dc

Reimplemented from SingleTimeKinematicConstraint.

function kinematicsPathJoints ( obj  )
Return values
joint_idx
function name ( obj  ,
 
)
virtual
Return values
name_str

Reimplemented from SingleTimeKinematicConstraint.

Member Data Documentation

Property body_a
protected
Property body_b
protected

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