Drake
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
 rbm – RigidBodyManipulator 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
 obj – RelativePosition object

## Member Function Documentation

 function eval ( obj , q )

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:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/solvers/+drakeFunction/+kinematic/RelativePosition.m