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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

num_constraint– An int scalar. The number of nonlinear constraints

Constructor & Destructor Documentation

function SingleTimeKinematicConstraint ( robot  ,
Return values

Member Function Documentation

function eval ( obj  ,
Return values
function generateConstraint ( obj  ,

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

Return values

Reimplemented from RigidBodyConstraint.

function getNumConstraint ( obj  ,
Return values
function getTspan ( obj  )
Return values
function isTimeValid ( obj  ,
Return values
function kinematicsPathJoints ( obj  )

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

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

Return values
function updateRobot ( obj  ,
Return values

Member Data Documentation

Property num_constraint

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