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RelativePosition Class Reference

Position of points in frame A relative to frame B. More...

Inheritance diagram for RelativePosition:
Collaboration diagram for RelativePosition:

Public Member Functions

function RelativePosition (rbm, frameA, frameB, pts_in_A)
 obj = drakeFunction.kinematic.RelativePosition(rbm,frameA, % frameB,pts_in_A) returns a RelativePosition object that computes the position of the given points in frame A relative to frame B More...
 
function eval (obj, q)
 pos = eval(obj,q) returns the relative positions of the points More...
 

Protected Member Functions

function kinematicsPathJoints (obj)
 

Detailed Description

Position of points in frame A relative to frame B.

Constructor & Destructor Documentation

function RelativePosition ( rbm  ,
frameA  ,
frameB  ,
pts_in_A   
)

obj = drakeFunction.kinematic.RelativePosition(rbm,frameA, % frameB,pts_in_A) returns a RelativePosition object that computes the position of the given points in frame A relative to frame B

obj = drakeFunction.kinematic.RelativePosition(rbm,frameA,frameB) returns a RelativePosition object that computes the position of the origin of frame A relative to frame B

Parameters
rbmRigidBodyManipulator object
frameA– Body/frame name or frame id/body idx
frameB– Body/frame name or frame id/body idx
pts_in_A– [3 x n_pts] array. pts_in_A(:,i) gives the coordinates of the i-th point in frame A. Optional.
Default: [0;0;0]
Return values
objRelativePosition object

Member Function Documentation

function eval ( obj  ,
 
)

pos = eval(obj,q) returns the relative positions of the points

[pos,J] = eval(obj,q) also returns the Jacobian of the relative positions

[pos,J,dJ] = eval(obj,q) also returns the second-derivaties of the relative positions

Parameters
obj– drakeFunction.kinematic.RelativePosition object
q– Column vector of joint positions
Return values
pos– [3 x n_pts] array containing the positions of pts_in_A relative to frameB
J– [3*n_pts x nq] Jacobian of pos w.r.t. q
dJ– [3*n_pts x nq^2] second-derivatives of pos w.r.t. q in geval format
function kinematicsPathJoints ( obj  )
protected
Return values
joint_idx

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