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RelativePositionConstraint Class Reference

Constraining points in body A to be within a bounding box in B' frame on body B. More...

Inheritance diagram for RelativePositionConstraint:
Collaboration diagram for RelativePositionConstraint:

Public Member Functions

function RelativePositionConstraint (robot, pts, lb, ub, body_a, body_b, bTbp, tspan)
 
function drawConstraint (obj, q, lcmgl)
 
function kinematicsPathJoints (obj)
 
- Public Member Functions inherited from PositionConstraint
function PositionConstraint (robot, pts, lb, ub, tspan)
 
function bounds (obj, t)
 
function name (obj, t)
 
- 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 evalPositions (obj, kinsol)
 nq = obj.robot.getNumPositions(); [pts_world, J_world] = forwardKin(obj.robot,kinsol,obj.body,obj.pts,0); More...
 
function evalNames (obj, t)
 
- Protected Member Functions inherited from PositionConstraint
function evalValidTime (obj, kinsol)
 
function setConstraintBounds (obj, lb, ub)
 

Protected Attributes

Property body_a
 
Property body_b
 
Property bTbp
 
Property bpTb
 
- Protected Attributes inherited from PositionConstraint
Property ub
 
Property lb
 
Property null_constraint_rows
 
Property pts
 
Property n_pts
 
- 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

Constraining points in body A to be within a bounding box in B' frame on body B.

Constructor & Destructor Documentation

function RelativePositionConstraint ( robot  ,
pts  ,
lb  ,
ub  ,
body_a  ,
body_b  ,
bTbp  ,
tspan   
)
Parameters
robot
body_a– Either:
  • An integer body index or frame id OR
  • A string containing a body or frame name
body_b– Either:
  • An integer body index or frame id OR
  • A string containing a body or frame name
pts– A 3xnpts double matrix, points in body A frame
lb– A 3xnpts double matrix, the lower bound of the position
ub– A 3xnpts double matrix, the upper bound of the position
bTbp– A 7x1 vector representating the transformation from frame B' to the body B. bTbp = [bTbp_translation;bTbp_quaternion] bTbp_translation if the vector from origin of body B to B'. bTbp_quaternion is the quaternion representation of rotation.
Return values
obj

Member Function Documentation

function drawConstraint ( obj  ,
,
lcmgl   
)
function evalNames ( obj  ,
 
)
protectedvirtual
Return values
cnst_names

Reimplemented from PositionConstraint.

function evalPositions ( obj  ,
kinsol   
)
protectedvirtual

nq = obj.robot.getNumPositions(); [pts_world, J_world] = forwardKin(obj.robot,kinsol,obj.body,obj.pts,0);

Return values
pos
J

Reimplemented from PositionConstraint.

function kinematicsPathJoints ( obj  )
Return values
joint_idx

Member Data Documentation

Property body_a
protected
Property body_b
protected
Property bpTb
protected
Property bTbp
protected

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