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WorldGazeOrientConstraint Class Reference
Inheritance diagram for WorldGazeOrientConstraint:
Collaboration diagram for WorldGazeOrientConstraint:

Public Member Functions

function WorldGazeOrientConstraint (robot, body, axis, quat_des, conethreshold, threshold, tspan)
function name (obj, t)
function kinematicsPathJoints (obj)
- Public Member Functions inherited from GazeOrientConstraint
function GazeOrientConstraint (robot, axis, quat_des, conethreshold, threshold, tspan)
function bounds (obj, t)
- Public Member Functions inherited from GazeConstraint
function GazeConstraint (robot, axis, conethreshold, tspan)
- Public Member Functions inherited from SingleTimeKinematicConstraint
function SingleTimeKinematicConstraint (robot, tspan)
function getTspan (obj)
function isTimeValid (obj, t)
function getNumConstraint (obj, t)
function updateRobot (obj, robot)
function eval (obj, t, kinsol)
function generateConstraint (obj, t)
 generate a FunctionHandleConstraint object if time is valid or if no time is given More...
function kinematicsPathJoints (obj)
 return the indices of the joints used to evaluate the constraint. More...
- Public Member Functions inherited from RigidBodyConstraint
function RigidBodyConstraint (category, robot, tspan)
function categoryString (obj)

Protected Member Functions

function evalOrientation (obj, kinsol)
- Protected Member Functions inherited from GazeOrientConstraint
function evalValidTime (obj, kinsol)

Protected Attributes

Property body
Property body_name
- Protected Attributes inherited from GazeOrientConstraint
Property threshold
Property quat_des
- Protected Attributes inherited from GazeConstraint
Property axis
Property conethreshold
- Protected Attributes inherited from SingleTimeKinematicConstraint
Property num_constraint
- 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

robotA RigidBodyManipulator, or a TimeSteppingRigidBodyManipulator
bodyThe index of the body
axisa 3x1 unit vector, in the body frame
quat_desa 4x1 unit vector
conethresholda scalar in [0,pi], default is 0
thresholda scalar in [0,pi], default is pi
tspanOPTIONAL argument. A 1x2 vector quat_des is the nominal orientation of the body. The actual orientation of the body satisfies that the axis lies within a cone, with the cone aperture being 2*conethreshold, the cone axis being the direction that the body axis would be if body orientation exactly matches quat_des; The body can also rotate around that cone axis within range [-threshold threshold]

Constructor & Destructor Documentation

function WorldGazeOrientConstraint ( robot  ,
body  ,
axis  ,
quat_des  ,
conethreshold  ,
threshold  ,
Return values

Member Function Documentation

function evalOrientation ( obj  ,
Return values

Reimplemented from GazeOrientConstraint.

function kinematicsPathJoints ( obj  )
Return values
function name ( obj  ,
Return values

Reimplemented from SingleTimeKinematicConstraint.

Member Data Documentation

Property body
Property body_name

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