Drake
RigidBodyConstraint Class Referenceabstract

Abstract base class. More...

#include <drake/attic/multibody/rigid_body_constraint.h>

Public Member Functions

 RigidBodyConstraint (int category, RigidBodyTree< double > *robot, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
int getType () const
 
int getCategory () const
 
RigidBodyTree< double > * getRobotPointer () const
 
virtual ~RigidBodyConstraint (void)=0
 

Static Public Attributes

static const int SingleTimeKinematicConstraintCategory = -1
 
static const int MultipleTimeKinematicConstraintCategory = -2
 
static const int QuasiStaticConstraintCategory = -3
 
static const int PostureConstraintCategory = -4
 
static const int MultipleTimeLinearPostureConstraintCategory = -5
 
static const int SingleTimeLinearPostureConstraintCategory = -6
 
static const int QuasiStaticConstraintType = 1
 
static const int PostureConstraintType = 2
 
static const int SingleTimeLinearPostureConstraintType = 3
 
static const int AllBodiesClosestDistanceConstraintType = 4
 
static const int WorldEulerConstraintType = 5
 
static const int WorldGazeDirConstraintType = 6
 
static const int WorldGazeOrientConstraintType = 7
 
static const int WorldGazeTargetConstraintType = 8
 
static const int RelativeGazeTargetConstraintType = 9
 
static const int WorldCoMConstraintType = 10
 
static const int WorldPositionConstraintType = 11
 
static const int WorldPositionInFrameConstraintType = 12
 
static const int WorldQuatConstraintType = 13
 
static const int Point2PointDistanceConstraintType = 14
 
static const int Point2LineSegDistConstraintType = 15
 
static const int WorldFixedPositionConstraintType = 16
 
static const int WorldFixedOrientConstraintType = 17
 
static const int WorldFixedBodyPoseConstraintType = 18
 
static const int PostureChangeConstraintType = 19
 
static const int RelativePositionConstraintType = 20
 
static const int RelativeQuatConstraintType = 24
 
static const int RelativeGazeDirConstraintType = 25
 
static const int MinDistanceConstraintType = 26
 
static const int GravityCompensationTorqueConstraintType = 27
 

Protected Member Functions

std::string getTimeString (const double *t) const
 
void set_type (int type)
 
void set_robot (RigidBodyTree< double > *robot)
 
const doubletspan () const
 

Detailed Description

Abstract base class.

All constraints used in the inverse kinematics problem are inherited from RigidBodyConstraint. There are 6 main categories of the RigidBodyConstraint, each category has its own interface

Constructor & Destructor Documentation

◆ RigidBodyConstraint()

◆ ~RigidBodyConstraint()

~RigidBodyConstraint ( void  )
pure virtual

Member Function Documentation

◆ getCategory()

int getCategory ( ) const
inline

◆ getRobotPointer()

RigidBodyTree<double>* getRobotPointer ( ) const
inline

◆ getTimeString()

std::string getTimeString ( const double t) const
protected

◆ getType()

int getType ( ) const
inline

◆ set_robot()

void set_robot ( RigidBodyTree< double > *  robot)
inlineprotected

◆ set_type()

void set_type ( int  type)
inlineprotected

◆ tspan()

const double* tspan ( ) const
inlineprotected

Member Data Documentation

◆ AllBodiesClosestDistanceConstraintType

const int AllBodiesClosestDistanceConstraintType = 4
static

◆ GravityCompensationTorqueConstraintType

const int GravityCompensationTorqueConstraintType = 27
static

◆ MinDistanceConstraintType

const int MinDistanceConstraintType = 26
static

◆ MultipleTimeKinematicConstraintCategory

const int MultipleTimeKinematicConstraintCategory = -2
static

◆ MultipleTimeLinearPostureConstraintCategory

const int MultipleTimeLinearPostureConstraintCategory = -5
static

◆ Point2LineSegDistConstraintType

const int Point2LineSegDistConstraintType = 15
static

◆ Point2PointDistanceConstraintType

const int Point2PointDistanceConstraintType = 14
static

◆ PostureChangeConstraintType

const int PostureChangeConstraintType = 19
static

◆ PostureConstraintCategory

const int PostureConstraintCategory = -4
static

◆ PostureConstraintType

const int PostureConstraintType = 2
static

◆ QuasiStaticConstraintCategory

const int QuasiStaticConstraintCategory = -3
static

◆ QuasiStaticConstraintType

const int QuasiStaticConstraintType = 1
static

◆ RelativeGazeDirConstraintType

const int RelativeGazeDirConstraintType = 25
static

◆ RelativeGazeTargetConstraintType

const int RelativeGazeTargetConstraintType = 9
static

◆ RelativePositionConstraintType

const int RelativePositionConstraintType = 20
static

◆ RelativeQuatConstraintType

const int RelativeQuatConstraintType = 24
static

◆ SingleTimeKinematicConstraintCategory

const int SingleTimeKinematicConstraintCategory = -1
static

◆ SingleTimeLinearPostureConstraintCategory

const int SingleTimeLinearPostureConstraintCategory = -6
static

◆ SingleTimeLinearPostureConstraintType

const int SingleTimeLinearPostureConstraintType = 3
static

◆ WorldCoMConstraintType

const int WorldCoMConstraintType = 10
static

◆ WorldEulerConstraintType

const int WorldEulerConstraintType = 5
static

◆ WorldFixedBodyPoseConstraintType

const int WorldFixedBodyPoseConstraintType = 18
static

◆ WorldFixedOrientConstraintType

const int WorldFixedOrientConstraintType = 17
static

◆ WorldFixedPositionConstraintType

const int WorldFixedPositionConstraintType = 16
static

◆ WorldGazeDirConstraintType

const int WorldGazeDirConstraintType = 6
static

◆ WorldGazeOrientConstraintType

const int WorldGazeOrientConstraintType = 7
static

◆ WorldGazeTargetConstraintType

const int WorldGazeTargetConstraintType = 8
static

◆ WorldPositionConstraintType

const int WorldPositionConstraintType = 11
static

◆ WorldPositionInFrameConstraintType

const int WorldPositionInFrameConstraintType = 12
static

◆ WorldQuatConstraintType

const int WorldQuatConstraintType = 13
static

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