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WorldQuatConstraint Class Reference

Constrain the body satisfies 2*(quat'*quat_des)^2-1 in [cos(tol), 1];. More...

Inheritance diagram for WorldQuatConstraint:
Collaboration diagram for WorldQuatConstraint:

Public Member Functions

function WorldQuatConstraint (robot, body, quat_des, tol, tspan)
 
function name (obj, t)
 
function kinematicsPathJoints (obj)
 
- Public Member Functions inherited from QuatConstraint
function QuatConstraint (robot, tol, tspan)
 
function bounds (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 evalOrientationProduct (obj, kinsol)
 
- Protected Member Functions inherited from QuatConstraint
function evalValidTime (obj, kinsol)
 

Protected Attributes

Property body
 
Property quat_des
 
Property body_name
 
- Protected Attributes inherited from QuatConstraint
Property tol
 
- 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

Constrain the body satisfies 2*(quat'*quat_des)^2-1 in [cos(tol), 1];.

Parameters
robotA RigidBodyManipulator, or a TimeSteppingRigidBodyManipulator
bodyA scalar. The index of the body
quat_desA quaternion. The desired body orientation
tolA nonnegative scalar between [0 pi]. tol is the maximum angle of the allowable rotation that would rotate actual quaternion to quat_des

Constructor & Destructor Documentation

function WorldQuatConstraint ( robot  ,
body  ,
quat_des  ,
tol  ,
tspan   
)
Return values
obj

Member Function Documentation

function evalOrientationProduct ( obj  ,
kinsol   
)
protectedvirtual
Return values
orient_prod
dorient_prod

Reimplemented from QuatConstraint.

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
Property quat_des
protected

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