Inheritance diagram for SingleTimeKinematicConstraintWrapper:

Collaboration diagram for SingleTimeKinematicConstraintWrapper:

Public Member Functions
	SingleTimeKinematicConstraintWrapper (const SingleTimeKinematicConstraint rigid_body_constraint, KinematicsCacheHelper< double > kin_helper)
	All pointers are aliased for the lifetime of the wrapper. More...

	~SingleTimeKinematicConstraintWrapper () override

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

SingleTimeKinematicConstraintWrapper	(	const SingleTimeKinematicConstraint *	rigid_body_constraint,
		KinematicsCacheHelper< double > *	kin_helper
	)

inline

All pointers are aliased for the lifetime of the wrapper.

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~SingleTimeKinematicConstraintWrapper ( )

inlineoverride

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: