Parametrizes bounds on the magnitude and direction of the angular velocity vector.
#include <drake/multibody/optimization/spatial_velocity_constraint.h>
Public Attributes | |
double | magnitude_lower {0} |
Lower bound on the magnitude of the angular velocity vector. More... | |
double | magnitude_upper {std::numeric_limits<double>::infinity()} |
Upper bound on the magnitude of the angular velocity vector. More... | |
Eigen::Vector3d | reference_direction {0, 0, 1} |
Reference direction of the angular velocity vector. More... | |
double | theta_bound {M_PI} |
The angle difference between w_AC and reference_direction will be constrained to θ ∈ [0,π] ≤ θ_bound. More... | |
double magnitude_lower {0} |
Lower bound on the magnitude of the angular velocity vector.
Must be non-negative. The actual constraint will be implemented as a constraint on the squared magnitude.
Upper bound on the magnitude of the angular velocity vector.
Must be ≥ magnitude_lower. The actual constraint will be implemented as a constraint on the squared magnitude.
Eigen::Vector3d reference_direction {0, 0, 1} |
Reference direction of the angular velocity vector.
(Only the direction matters, the magnitude does not).
double theta_bound {M_PI} |
The angle difference between w_AC and reference_direction will be constrained to θ ∈ [0,π] ≤ θ_bound.
Must be nonnegative. The actual constraint will be implemented as cos(θ_bound) ≤ cos(θ) ≤ 1. When the norm of w_AC is very close to zero, we add a small number to the norm to avoid numerical difficulties.