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SingleTimeKinematicConstraint Class Reference

An abstract class. More...

Inheritance diagram for SingleTimeKinematicConstraint:
Collaboration diagram for SingleTimeKinematicConstraint:

Public Member Functions

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...
 
virtual function bounds (obj, t)
 
virtual function name (obj, t)
 
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 

Protected Member Functions

virtual function evalValidTime (obj, kinsol)
 

Protected Attributes

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

An abstract class.

Its eval function take a single time as input, the constraint is enforced at that time only

Parameters
num_constraint– An int scalar. The number of nonlinear constraints

Constructor & Destructor Documentation

function SingleTimeKinematicConstraint ( robot  ,
tspan   
)
Return values
obj

Member Function Documentation

function eval ( obj  ,
,
kinsol   
)
Return values
c
dc
function generateConstraint ( obj  ,
 
)
virtual

generate a FunctionHandleConstraint object if time is valid or if no time is given

Return values
cnstr

Reimplemented from RigidBodyConstraint.

function getNumConstraint ( obj  ,
 
)
Return values
n
function getTspan ( obj  )
Return values
tspan
function isTimeValid ( obj  ,
 
)
Return values
flag
function kinematicsPathJoints ( obj  )

return the indices of the joints used to evaluate the constraint.

The default value is (1:obj.robot.getNumPositions);

Return values
joint_idx
function updateRobot ( obj  ,
robot   
)
Return values
obj

Member Data Documentation

Property num_constraint
protected

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