Detailed Description

Constrains the distance between a pair of geometries to be within a range [distance_lower, distance_upper].

#include <drake/multibody/inverse_kinematics/distance_constraint.h>

Public Member Functions
	DistanceConstraint (const multibody::MultibodyPlant< double > const plant, SortedPair< geometry::GeometryId > geometry_pair, systems::Context< double > plant_context, double distance_lower, double distance_upper)

	DistanceConstraint (const multibody::MultibodyPlant< AutoDiffXd > const plant, SortedPair< geometry::GeometryId > geometry_pair, systems::Context< AutoDiffXd > plant_context, double distance_lower, double distance_upper)
	Overloaded constructor. More...

	~DistanceConstraint () override

Does not allow copy, move, or assignment
	DistanceConstraint (const DistanceConstraint &)=delete

DistanceConstraint &	operator= (const DistanceConstraint &)=delete

	DistanceConstraint (DistanceConstraint &&)=delete

DistanceConstraint &	operator= (DistanceConstraint &&)=delete

Public Member Functions inherited from Constraint
template<typename DerivedLB , typename DerivedUB >
	Constraint (int num_constraints, int num_vars, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub, const std::string &description="")
	Constructs a constraint which has `num_constraints` rows, with an input `num_vars` x 1 vector. More...

	Constraint (int num_constraints, int num_vars)
	Constructs a constraint which has `num_constraints` rows, with an input `num_vars` x 1 vector, with no bounds. More...

bool	CheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, double tol=1E-6) const
	Return whether this constraint is satisfied by the given value, `x`. More...

bool	CheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, double tol=1E-6) const

symbolic::Formula	CheckSatisfied (const Eigen::Ref< const VectorX< symbolic::Variable >> &x) const

const Eigen::VectorXd &	lower_bound () const

const Eigen::VectorXd &	upper_bound () const

int	num_constraints () const
	Number of rows in the output constraint. More...

	Constraint (const Constraint &)=delete

Constraint &	operator= (const Constraint &)=delete

	Constraint (Constraint &&)=delete

Constraint &	operator= (Constraint &&)=delete

Public Member Functions inherited from EvaluatorBase
virtual	~EvaluatorBase ()

void	Eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const
	Evaluates the expression. More...

void	Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
	Evaluates the expression. More...

void	Eval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const
	Evaluates the expression. More...

void	set_description (const std::string &description)
	Set a human-friendly description for the evaluator. More...

const std::string &	get_description () const
	Getter for a human-friendly description for the evaluator. More...

std::ostream &	Display (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
	Formats this evaluator into the given stream using `vars` for the bound decision variable names. More...

std::ostream &	Display (std::ostream &os) const
	Formats this evaluator into the given stream, without displaying the decision variables it is bound to. More...

std::string	ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const
	Returns a LaTeX string describing this evaluator. More...

int	num_vars () const
	Getter for the number of variables, namely the number of rows in x, as used in Eval(x, y). More...

int	num_outputs () const
	Getter for the number of outputs, namely the number of rows in y, as used in Eval(x, y). More...

void	SetGradientSparsityPattern (const std::vector< std::pair< int, int >> &gradient_sparsity_pattern)
	Set the sparsity pattern of the gradient matrix ∂y/∂x (the gradient of y value in Eval, w.r.t x in Eval) . More...

const std::optional< std::vector< std::pair< int, int > > > &	gradient_sparsity_pattern () const
	Returns the vector of (row_index, col_index) that contains all the entries in the gradient of Eval function (∂y/∂x) whose value could be non-zero, namely if ∂yᵢ/∂xⱼ could be non-zero, then the pair (i, j) is in gradient_sparsity_pattern. More...

	EvaluatorBase (const EvaluatorBase &)=delete

EvaluatorBase &	operator= (const EvaluatorBase &)=delete

	EvaluatorBase (EvaluatorBase &&)=delete

EvaluatorBase &	operator= (EvaluatorBase &&)=delete

Additional Inherited Members
Protected Member Functions inherited from Constraint
void	UpdateLowerBound (const Eigen::Ref< const Eigen::VectorXd > &new_lb)
	Updates the lower bound. More...

void	UpdateUpperBound (const Eigen::Ref< const Eigen::VectorXd > &new_ub)
	Updates the upper bound. More...

void	set_bounds (const Eigen::Ref< const Eigen::VectorXd > &new_lb, const Eigen::Ref< const Eigen::VectorXd > &new_ub)
	Set the upper and lower bounds of the constraint. More...

virtual bool	DoCheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, const double tol) const

virtual bool	DoCheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, const double tol) const

virtual symbolic::Formula	DoCheckSatisfied (const Eigen::Ref< const VectorX< symbolic::Variable >> &x) const

Protected Member Functions inherited from EvaluatorBase
	EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
	Constructs a evaluator. More...

virtual std::ostream &	DoDisplay (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
	NVI implementation of Display. More...

virtual std::string	DoToLatex (const VectorX< symbolic::Variable > &vars, int precision) const

void	set_num_outputs (int num_outputs)

Constructor & Destructor Documentation

◆ DistanceConstraint() [1/4]

DistanceConstraint ( const DistanceConstraint & )

delete

◆ DistanceConstraint() [2/4]

DistanceConstraint ( DistanceConstraint && )

delete

◆ DistanceConstraint() [3/4]

DistanceConstraint	(	const multibody::MultibodyPlant< double > *const	plant,
		SortedPair< geometry::GeometryId >	geometry_pair,
		systems::Context< double > *	plant_context,
		double	distance_lower,
		double	distance_upper
	)

Parameters

plant	The plant to which the pair of geometries belong. `plant` should outlive this DistanceConstraint object.
geometry_pair	The pair of geometries between which the distance is constrained. Notice that we only consider the distance between a static geometry and a dynamic geometry, or a pair of dynamic geometries. We don't allow constraining the distance between two static geometries.
plant_context	The context for the plant. `plant_context` should outlive this DistanceConstraint object.
distance_lower	The lower bound on the distance.
distance_upper	The upper bound on the distance.

◆ DistanceConstraint() [4/4]

DistanceConstraint	(	const multibody::MultibodyPlant< AutoDiffXd > *const	plant,
		SortedPair< geometry::GeometryId >	geometry_pair,
		systems::Context< AutoDiffXd > *	plant_context,
		double	distance_lower,
		double	distance_upper
	)

Overloaded constructor.

Constructs the constraint with MultibodyPlant<AutoDiffXd>.

◆ ~DistanceConstraint()

~DistanceConstraint ( )

override

Member Function Documentation

◆ operator=() [1/2]

DistanceConstraint& operator= ( const DistanceConstraint & )

delete

◆ operator=() [2/2]

DistanceConstraint& operator= ( DistanceConstraint && )

delete

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

drake/multibody/inverse_kinematics/distance_constraint.h

Detailed Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ DistanceConstraint() [1/4]

◆ DistanceConstraint() [2/4]

◆ DistanceConstraint() [3/4]

◆ DistanceConstraint() [4/4]

◆ ~DistanceConstraint()

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]