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