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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.

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  ,
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

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

Reimplemented from MultipleTimeKinematicConstraint.

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

Reimplemented from MultipleTimeKinematicConstraint.

function setTol ( obj  ,
Return values

Member Data Documentation

Property body
Property body_name
Property pts
Property tol

tolerance for the constraint

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