All Classes Files Functions Variables
RelativeQuatConstraint Class Reference

Constrains the orientation of the body reference frame of link A relative to the frame of Body B. More...

Inheritance diagram for RelativeQuatConstraint:
Collaboration diagram for RelativeQuatConstraint:

Public Member Functions

function RelativeQuatConstraint (robot, body_a, body_b, quat_des, tol, tspan)
function name (obj, t)
function drawConstraint (obj, q, lcmgl)
function kinematicsPathJoints (obj)
- Public Member Functions inherited from QuatConstraint
function QuatConstraint (robot, tol, tspan)
function bounds (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 evalOrientationProduct (obj, kinsol)
- Protected Member Functions inherited from QuatConstraint
function evalValidTime (obj, kinsol)

Protected Attributes

Property body_a
Property body_b
Property quat_des
- Protected Attributes inherited from QuatConstraint
Property tol
- 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

Constrains the orientation of the body reference frame of link A relative to the frame of Body B.

The quaternions representing the orientations of Frame A and Frame B must satisfy:

2(quat_a2b'*quat_des)^2-1 in [cos(tol) 1]

Constructor & Destructor Documentation

function RelativeQuatConstraint ( robot  ,
body_a  ,
body_b  ,
quat_des  ,
tol  ,
body_a– An int scalar, the bodyA index
body_b– An int scalar, the bodyB index
quat_des– A 4x1 vector. The quaternion that represents the desired rotation from body A frame to bodyB frame
tol– A scalar, the maximum allowable angle between the desired orientation and the actual orientation
Return values

Member Function Documentation

function drawConstraint ( obj  ,
function evalOrientationProduct ( obj  ,
Return values

Reimplemented from QuatConstraint.

function kinematicsPathJoints ( obj  )
Return values
function name ( obj  ,
Return values

Reimplemented from SingleTimeKinematicConstraint.

Member Data Documentation

Property body_a
Property body_b
Property quat_des

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