Drake
 All Classes Files Functions Variables
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

Parameters
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  ,
tspan   
)
Return values
obj

Member Function Documentation

function evalOrientation ( obj  ,
kinsol   
)
protectedvirtual
Return values
quat
dquat_dq

Reimplemented from GazeOrientConstraint.

function kinematicsPathJoints ( obj  )
Return values
joint_idx
function name ( obj  ,
 
)
virtual
Return values
name_str

Reimplemented from SingleTimeKinematicConstraint.

Member Data Documentation

Property body
protected
Property body_name
protected

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