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WorldFixedOrientConstraint Class Reference

Constrain a certain body to be in a fixed orientation for a time interval. More...

Inheritance diagram for WorldFixedOrientConstraint:
Collaboration diagram for WorldFixedOrientConstraint:

Public Member Functions

function WorldFixedOrientConstraint (robot, body, tspan)
function getNumConstraint (obj, t)
function bounds (obj, t, N)
 [lb,ub] = bounds(obj,t) returns the upper and lower bounds for this constraint at all valid times given in t. More...
function name (obj, t)
- Public Member Functions inherited from MultipleTimeKinematicConstraint
function MultipleTimeKinematicConstraint (robot, tspan)
function isTimeValid (obj, t)
function getTspan (obj)
function eval (obj, t, kinsol_cell)
function updateRobot (obj, robot)
function generateConstraint (obj, t, N)
 generate a FunctionHandleConstraint for postures at all time t More...
function kinematicPathJoints (obj)
 return the indices of the joints used to evaluate the constraint. More...
virtual function getNumConstraint (obj, N)
 N is the number of knot points considered by this constraint. More...
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
function categoryString (obj)
virtual function generateConstraint (obj, t)

Protected Member Functions

function evalValidTime (obj, valid_kinsol_cell)

Protected Attributes

Property body
Property body_name
- 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

Constrain a certain body to be in a fixed orientation for a time interval.

robot– A RigidBodyManipulator or a TimeSteppingRigidBodyManipulator
body– An int scalar, the body index
tspan– Optional input, a 1x2 double array. The time span of this constraint being active. Default is [-inf inf];

Constructor & Destructor Documentation

function WorldFixedOrientConstraint ( robot  ,
body  ,
Return values

Member Function Documentation

function bounds ( obj  ,

[lb,ub] = bounds(obj,t) returns the upper and lower bounds for this constraint at all valid times given in t.

[lb,ub] = bounds(obj,[],N) returns the upper and lower bounds for this constraint for N valid times

obj– WorldFixedOrientationConstraint object
t– Vector of times
N– Integer number of time points
Return values

Reimplemented from MultipleTimeKinematicConstraint.

function evalValidTime ( obj  ,
Return values

Reimplemented from MultipleTimeKinematicConstraint.

function getNumConstraint ( obj  ,
Return values
function name ( obj  ,
Return values

Reimplemented from MultipleTimeKinematicConstraint.

Member Data Documentation

Property body
Property body_name

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