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SingleTimeLinearPostureConstraint Class Reference

A linear constraint on the robot posture for a single time lb<=sparse(iAfun,jAvar,A,max(jAvar),robot.nq)*q<=ub. More...

Inheritance diagram for SingleTimeLinearPostureConstraint:
Collaboration diagram for SingleTimeLinearPostureConstraint:

Public Member Functions

function SingleTimeLinearPostureConstraint (robot, iAfun, jAvar, A, lb, ub, tspan)
 
function isTimeValid (obj, t)
 
function getNumConstraint (obj, t)
 
function bounds (obj, t)
 
function feval (obj, t, q)
 
function geval (obj, t)
 
function eval (obj, t, q)
 
function name (obj, t)
 
function generateConstraint (obj, t)
 
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
 
function categoryString (obj)
 

Protected Attributes

Property iAfun
 
Property jAvar
 
Property A
 
Property lb
 
Property ub
 
Property num_constraint
 
Property A_mat
 
- 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

A linear constraint on the robot posture for a single time lb<=sparse(iAfun,jAvar,A,max(jAvar),robot.nq)*q<=ub.

Parameters
iAfun– The row index of the sparse linear matrix
jAvar– The column index of the sparse linear matrix
A– The non-zero value of the sparse linear matrix
lb– The lower bound of the constraint
ub– The upper bound of the constraint
num_lcon– An integer. The number of linear constraints

Constructor & Destructor Documentation

function SingleTimeLinearPostureConstraint ( robot  ,
iAfun  ,
jAvar  ,
A  ,
lb  ,
ub  ,
tspan   
)
Return values
obj

Member Function Documentation

function bounds ( obj  ,
 
)
Return values
lb
ub
function eval ( obj  ,
,
 
)
Return values
c
dc
function feval ( obj  ,
,
 
)
Return values
c
function generateConstraint ( obj  ,
 
)
virtual
Return values
cnstr

Reimplemented from RigidBodyConstraint.

function getNumConstraint ( obj  ,
 
)
Return values
n
function geval ( obj  ,
 
)
Return values
iAfun
jAvar
A
function isTimeValid ( obj  ,
 
)
Return values
flag
function name ( obj  ,
 
)
Return values
name_str

Member Data Documentation

Property A
protected
Property A_mat
protected
Property iAfun
protected
Property jAvar
protected
Property lb
protected
Property num_constraint
protected
Property ub
protected

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