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SmoothDistancePenalty Class Reference

DrakeFunction penalizing all distances less than a given minimum between bodies of a RigidBodyManipulator. More...

Inheritance diagram for SmoothDistancePenalty:
Collaboration diagram for SmoothDistancePenalty:

Public Member Functions

function SmoothDistancePenalty (rbm, min_distance, active_collision_options)
 RigidBodyManipulator/collisionDetect. More...
 
function eval (obj, q)
 

Public Attributes

Property min_distance
 
Property active_collision_options
 unpenalized distance More...
 

Detailed Description

DrakeFunction penalizing all distances less than a given minimum between bodies of a RigidBodyManipulator.

The output of this function is zero if and only if all pairs of bodies considered are separarated by at least the given minimum distance.

Constructor & Destructor Documentation

RigidBodyManipulator/collisionDetect.

obj = SmoothDistancePenalty(rbm,min_distance,active_collision_options)

Parameters
rbmRigidBodyManipulator object
min_distance– Positive scalar representing the minimum unpenalized distance
active_collision_options– Options struct as described in RigidBodyManipulator/collisionDetect
Return values
obj

Member Function Documentation

function eval ( obj  ,
 
)
Return values
f
df

Member Data Documentation

Property active_collision_options

unpenalized distance

Property min_distance

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