Drake
 All Classes Files Functions Variables
RigidBodyConstraint Class Reference
Inheritance diagram for RigidBodyConstraint:
Collaboration diagram for RigidBodyConstraint:

Public Member Functions

function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 
virtual function generateConstraint (obj, t)
 

Public Attributes

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
 

Protected Attributes

Property category
 
Property type
 
Property robot
 
Property tspan
 
Property mex_ptr
 

Detailed Description

Parameters
category– All constraints in the same category share the same function interface. Please use negative number for this category
type– Only for non-abstract constraint. Each non-abstract constraint class has a unique type. Please use positive number for this category.
robot– A RigidBodyManipulator or TimeSteppingRigidBodyManipulator
tspan– A 1 x 2 double vector. The time span
mex_ptr– A DrakeConstraintMexPointer. The mex pointer of the RigidBodyConstraint

Constructor & Destructor Documentation

function RigidBodyConstraint ( category  ,
robot  ,
tspan   
)
Return values
obj

Member Function Documentation

function categoryString ( obj  )
Return values
cat_str

Member Data Documentation

Constant Property AllBodiesClosestDistanceConstraintType
Property category
protected
Constant Property ContactWrenchConstraintCategory
Constant Property FrictionConeWrenchConstraintType
Constant Property GravityCompensationTorqueConstraintType
Constant Property LinearFrictionConeWrenchConstraintType
Property mex_ptr
protected
Constant Property MinDistanceConstraintType
Constant Property MultipleTimeKinematicConstraintCategory
Constant Property MultipleTimeLinearPostureConstraintCategory
Constant Property Point2LineSegDistConstraintType
Constant Property Point2PointDistanceConstraintType
Constant Property PostureChangeConstraintType
Constant Property PostureConstraintCategory
Constant Property PostureConstraintType
Constant Property QuasiStaticConstraintCategory
Constant Property QuasiStaticConstraintType
Constant Property RailGraspWrenchConstraintType
Constant Property RelativeGazeDirConstraintType
Constant Property RelativeGazeTargetConstraintType
Constant Property RelativePositionConstraintType
Constant Property RelativeQuatConstraintType
Property robot
protected
Constant Property SingleTimeKinematicConstraintCategory
Constant Property SingleTimeLinearPostureConstraintCategory
Constant Property SingleTimeLinearPostureConstraintType
Property tspan
protected
Property type
protected
Constant Property WorldCoMConstraintType
Constant Property WorldEulerConstraintType
Constant Property WorldFixedBodyPoseConstraintType
Constant Property WorldFixedOrientConstraintType
Constant Property WorldFixedPositionConstraintType
Constant Property WorldGazeDirConstraintType
Constant Property WorldGazeOrientConstraintType
Constant Property WorldGazeTargetConstraintType
Constant Property WorldPositionConstraintType
Constant Property WorldPositionInFrameConstraintType
Constant Property WorldQuatConstraintType

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