Drake
rigid_body_constraint.h File Reference
#include <set>
#include <string>
#include <vector>
#include <Eigen/Dense>
#include <Eigen/SparseCore>
#include "drake/multibody/kinematics_cache.h"
#include "drake/multibody/rigid_body_tree.h"
Include dependency graph for rigid_body_constraint.h:

Classes

class  RigidBodyConstraint
 Abstract base class. More...
 
class  QuasiStaticConstraint
 Constrain the Center of Mass (CoM) within the support polygon. More...
 
class  PostureConstraint
 Constrain the joint limits. More...
 
class  MultipleTimeLinearPostureConstraint
 Constrain the posture such that lb(t(1), t(2),..., t(n)) <= A_mat(t(1), t(2), t(n))*[q(t(1));q(t(2));...;q(t(n))] <= ub(t(1), t(2),..., t(n)) where A_mat is a sparse matrix that only depends on t(1), t(2),..., t(n) More...
 
class  SingleTimeLinearPostureConstraint
 Constrain the posture satisfies lb <= A_mat * q <= ub at any time, where A_mat is a sparse matrix. More...
 
class  SingleTimeKinematicConstraint
 
class  MultipleTimeKinematicConstraint
 
class  PositionConstraint
 
class  WorldPositionConstraint
 
class  WorldCoMConstraint
 
class  RelativePositionConstraint
 
class  QuatConstraint
 
class  WorldQuatConstraint
 
class  RelativeQuatConstraint
 
class  EulerConstraint
 
class  WorldEulerConstraint
 
class  GazeConstraint
 
class  GazeOrientConstraint
 
class  WorldGazeOrientConstraint
 
class  GazeDirConstraint
 
class  WorldGazeDirConstraint
 
class  GazeTargetConstraint
 
class  WorldGazeTargetConstraint
 
class  RelativeGazeTargetConstraint
 
class  RelativeGazeDirConstraint
 
class  Point2PointDistanceConstraint
 
class  Point2LineSegDistConstraint
 
class  WorldFixedPositionConstraint
 
class  WorldFixedOrientConstraint
 
class  WorldFixedBodyPoseConstraint
 
class  AllBodiesClosestDistanceConstraint
 
class  MinDistanceConstraint
 
class  WorldPositionInFrameConstraint
 Constrain the points Q on a body to be within a bounding box specified in a fixed frame F. More...
 
class  PostureChangeConstraint
 
class  GravityCompensationTorqueConstraint
 

Namespaces

 DrakeRigidBodyConstraint
 

Variables

Eigen::Vector2d default_tspan