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WorldGazeTargetConstraint Class Reference
Inheritance diagram for WorldGazeTargetConstraint:
Collaboration diagram for WorldGazeTargetConstraint:

Public Member Functions

function WorldGazeTargetConstraint (robot, body, axis, target, gaze_origin, conethreshold, tspan)
function name (obj, t)
function kinematicsPathJoints (obj)
- Public Member Functions inherited from GazeTargetConstraint
function GazeTargetConstraint (robot, axis, target, gaze_origin, conethreshold, 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 evalValidTime (obj, kinsol)

Protected Attributes

Property body
Property body_name
- Protected Attributes inherited from GazeTargetConstraint
Property target
Property gaze_origin
- 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
targetA 3x1 point in the world frame
gaze_originA 3x1 point in the body frame
conethresholdA scalar in [0,pi], default is 0
tspanOPTIONAL argument. A 1x2 vector The body has the orientation such that its axis is within a cone, the aperture of the cone being 2xconethreshold, the axis of the cone being the line connecting target and gaze_origin

Constructor & Destructor Documentation

function WorldGazeTargetConstraint ( robot  ,
body  ,
axis  ,
target  ,
gaze_origin  ,
conethreshold  ,
Return values

Member Function Documentation

function evalValidTime ( obj  ,
Return values

Reimplemented from SingleTimeKinematicConstraint.

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: