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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  ,
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

Member Function Documentation

function drawConstraint ( obj  ,
function evalNames ( obj  ,
Return values

Reimplemented from PositionConstraint.

function evalPositions ( obj  ,

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

Return values

Reimplemented from PositionConstraint.

function kinematicsPathJoints ( obj  )
Return values

Member Data Documentation

Property body_a
Property body_b
Property bpTb
Property bTbp

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