#include <drake/systems/plants/constraint/RigidBodyConstraint.h>
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| EulerConstraint (RigidBodyTree *model, const Eigen::Vector3d &lb, const Eigen::Vector3d &ub, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan) |
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virtual | ~EulerConstraint (void) |
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virtual void | eval (const double *t, KinematicsCache< double > &cache, Eigen::VectorXd &c, Eigen::MatrixXd &dc) const |
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virtual void | bounds (const double *t, Eigen::VectorXd &lb, Eigen::VectorXd &ub) const |
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| SingleTimeKinematicConstraint (RigidBodyTree *model, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan) |
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virtual | ~SingleTimeKinematicConstraint () |
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bool | isTimeValid (const double *t) const |
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int | getNumConstraint (const double *t) const |
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virtual void | name (const double *t, std::vector< std::string > &name_str) const =0 |
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virtual void | updateRobot (RigidBodyTree *robot) |
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Public Member Functions inherited from RigidBodyConstraint |
| RigidBodyConstraint (int category, RigidBodyTree *robot, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan) |
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int | getType () const |
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int | getCategory () const |
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RigidBodyTree * | getRobotPointer () const |
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virtual | ~RigidBodyConstraint (void)=0 |
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void bounds |
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const double * |
t, |
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Eigen::VectorXd & |
lb, |
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Eigen::VectorXd & |
ub |
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) |
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virtual |
virtual void evalrpy |
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const KinematicsCache< double > & |
cache, |
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Eigen::Vector3d & |
rpy, |
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Eigen::MatrixXd & |
J |
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) |
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protectedpure virtual |
bool null_constraint_row |
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int |
row | ) |
const |
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inlineprotected |
The documentation for this class was generated from the following files: