QuasiStaticConstraintWrapper Class Reference

#include <drake/systems/plants/ConstraintWrappers.h>

Inheritance diagram for QuasiStaticConstraintWrapper:

Collaboration diagram for QuasiStaticConstraintWrapper:

Public Member Functions
	QuasiStaticConstraintWrapper (const QuasiStaticConstraint *rigid_body_constraint, KinematicsCacheHelper< double > *kin_helper)
	All pointers are aliased for the lifetime of the wrapper. More...
virtual	~QuasiStaticConstraintWrapper ()
void	eval (const Eigen::Ref< const Eigen::VectorXd > &q, Eigen::VectorXd &y) const override
void	eval (const Eigen::Ref< const TaylorVecXd > &tq, TaylorVecXd &ty) const override
Public Member Functions inherited from Constraint
	Constraint (size_t num_constraints)
template<typename DerivedLB , typename DerivedUB >
	Constraint (size_t num_constraints, Eigen::MatrixBase< DerivedLB > const &lb, Eigen::MatrixBase< DerivedUB > const &ub)
virtual	~Constraint ()
virtual void	eval (const Eigen::Ref< const Drake::TaylorVecXd > &x, Drake::TaylorVecXd &y) const =0
Eigen::VectorXd const &	lower_bound () const
Eigen::VectorXd const &	upper_bound () const
size_t	num_constraints () const

Additional Inherited Members
Protected Attributes inherited from Constraint
Eigen::VectorXd	lower_bound_
Eigen::VectorXd	upper_bound_

Constructor & Destructor Documentation

QuasiStaticConstraintWrapper ( const QuasiStaticConstraint *  rigid_body_constraint, KinematicsCacheHelper< double > *  kin_helper  )

inline

All pointers are aliased for the lifetime of the wrapper.

Also, the wrapped QuasiStaticConstraint claims to have three constraints, but the third was handled differently in the original SNOPT implementation, which we won't try to reproduce here.

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virtual ~QuasiStaticConstraintWrapper ( )

inlinevirtual

Member Function Documentation

void eval ( const Eigen::Ref< const Eigen::VectorXd > &  q, Eigen::VectorXd &  y  ) const

inlineoverridevirtual

Implements Constraint.

void eval ( const Eigen::Ref< const TaylorVecXd > &  tq, TaylorVecXd &  ty  ) const

inlineoverride

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

• drake/systems/plants/ConstraintWrappers.h