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WorldPositionConstraint Class Reference
Inheritance diagram for WorldPositionConstraint:
Collaboration diagram for WorldPositionConstraint:

Public Member Functions

function WorldPositionConstraint (robot, body, pts, lb, ub, tspan)
function kinematicsPathJoints (obj)
- Public Member Functions inherited from PositionConstraint
function PositionConstraint (robot, pts, lb, ub, tspan)
function bounds (obj, t)
function name (obj, t)
- 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 evalPositions (obj, kinsol)
function evalNames (obj, t)
- Protected Member Functions inherited from PositionConstraint
function evalValidTime (obj, kinsol)
function setConstraintBounds (obj, lb, ub)

Protected Attributes

Property body
Property body_name
- Protected Attributes inherited from PositionConstraint
Property ub
Property lb
Property null_constraint_rows
Property pts
Property n_pts
- 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
ptsA 3xn_pts matrix, pts(:,i) represents ith pts in the body
lb,ubBoth are 3xn_pts matrices. [lb(:,i), ub(:,i)] represents the bounding box for the position of pts(:,i) in the world frame
tspanOPTIONAL argument. A 1x2 vector

Constructor & Destructor Documentation

function WorldPositionConstraint ( robot  ,
body  ,
pts  ,
lb  ,
ub  ,
Return values

Member Function Documentation

function evalNames ( obj  ,
Return values

Reimplemented from PositionConstraint.

Reimplemented in WorldPositionInFrameConstraint.

function evalPositions ( obj  ,
Return values

Reimplemented from PositionConstraint.

Reimplemented in WorldPositionInFrameConstraint.

function kinematicsPathJoints ( obj  )
Return values

Member Data Documentation

Property body
Property body_name

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