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WorldFixedPositionConstraint Class Reference

Constraint some points on a certain body to be in a fixed position for a time interval. More...

Inheritance diagram for WorldFixedPositionConstraint:
Collaboration diagram for WorldFixedPositionConstraint:

Public Member Functions

function WorldFixedPositionConstraint (robot, body, pts, 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 setTol (obj, tol)
 
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, kinsol_cell)
 
- Protected Member Functions inherited from MultipleTimeKinematicConstraint
virtual function evalValidTime (obj, valid_kinsol_cell)
 

Protected Attributes

Property body
 
Property body_name
 
Property pts
 
Property tol
 tolerance for the constraint More...
 
- 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

Constraint some points on a certain body to be in a fixed position for a time interval.

Parameters
robot– A RigidBodyManipulator or a TimeSteppingRigidBodyManipulator
body– An int scalar, the body index
pts– A 3 x npts double array, pts(:,i) is the i'th point
tspan– Optional input, a 1x2 double array, the time span of this constaint being active. Default is [-inf inf]

Constructor & Destructor Documentation

function WorldFixedPositionConstraint ( robot  ,
body  ,
pts  ,
tspan   
)
Return values
obj

Member Function Documentation

function bounds ( obj  ,
,
 
)
virtual

[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

Parameters
objWorldFixedPositionConstraint object
t– Vector of times
N– Integer number of time points
Return values
lb
ub

Reimplemented from MultipleTimeKinematicConstraint.

function evalValidTime ( obj  ,
kinsol_cell   
)
protected
Return values
c
dc_valid
function getNumConstraint ( obj  ,
 
)
Return values
num
function name ( obj  ,
 
)
virtual
Return values
name_str

Reimplemented from MultipleTimeKinematicConstraint.

function setTol ( obj  ,
tol   
)
Return values
obj

Member Data Documentation

Property body
protected
Property body_name
protected
Property pts
protected
Property tol
protected

tolerance for the constraint


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