#include <drake/systems/plants/constraint/RigidBodyConstraint.h>

Inheritance diagram for MultipleTimeLinearPostureConstraint:

Collaboration diagram for MultipleTimeLinearPostureConstraint:

Public Member Functions
	MultipleTimeLinearPostureConstraint (RigidBodyTree *model, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)

virtual	~MultipleTimeLinearPostureConstraint ()

std::vector< bool >	isTimeValid (const double *t, int n_breaks) const

void	eval (const double *t, int n_breaks, const Eigen::MatrixXd &q, Eigen::VectorXd &c, Eigen::SparseMatrix< double > &dc) const

virtual int	getNumConstraint (const double *t, int n_breaks) const =0

virtual void	feval (const double *t, int n_breaks, const Eigen::MatrixXd &q, Eigen::VectorXd &c) const =0

virtual void	geval (const double *t, int n_breaks, Eigen::VectorXi &iAfun, Eigen::VectorXi &jAvar, Eigen::VectorXd &A) const =0

virtual void	name (const double *t, int n_breaks, std::vector< std::string > &name_str) const =0

virtual void	bounds (const double *t, int n_breaks, Eigen::VectorXd &lb, Eigen::VectorXd &ub) const =0

Public Member Functions inherited from RigidBodyConstraint
	RigidBodyConstraint (int category, RigidBodyTree *robot, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)

int	getType () const

int	getCategory () const

RigidBodyTree *	getRobotPointer () const

virtual	~RigidBodyConstraint (void)=0

Protected Member Functions
int	numValidTime (const std::vector< bool > &valid_flag) const

void	validTimeInd (const std::vector< bool > &valid_flag, Eigen::VectorXi &valid_t_ind) const

Protected Member Functions inherited from RigidBodyConstraint
std::string	getTimeString (const double *t) const

void	set_type (int type)

void	set_robot (RigidBodyTree *robot)

const double *	tspan () const

Additional Inherited Members
Static Public Attributes inherited from RigidBodyConstraint
static const int	SingleTimeKinematicConstraintCategory = -1

static const int	MultipleTimeKinematicConstraintCategory = -2

static const int	QuasiStaticConstraintCategory = -3

static const int	PostureConstraintCategory = -4

static const int	MultipleTimeLinearPostureConstraintCategory = -5

static const int	SingleTimeLinearPostureConstraintCategory = -6

static const int	QuasiStaticConstraintType = 1

static const int	PostureConstraintType = 2

static const int	SingleTimeLinearPostureConstraintType = 3

static const int	AllBodiesClosestDistanceConstraintType = 4

static const int	WorldEulerConstraintType = 5

static const int	WorldGazeDirConstraintType = 6

static const int	WorldGazeOrientConstraintType = 7

static const int	WorldGazeTargetConstraintType = 8

static const int	RelativeGazeTargetConstraintType = 9

static const int	WorldCoMConstraintType = 10

static const int	WorldPositionConstraintType = 11

static const int	WorldPositionInFrameConstraintType = 12

static const int	WorldQuatConstraintType = 13

static const int	Point2PointDistanceConstraintType = 14

static const int	Point2LineSegDistConstraintType = 15

static const int	WorldFixedPositionConstraintType = 16

static const int	WorldFixedOrientConstraintType = 17

static const int	WorldFixedBodyPoseConstraintType = 18

static const int	PostureChangeConstraintType = 19

static const int	RelativePositionConstraintType = 20

static const int	RelativeQuatConstraintType = 24

static const int	RelativeGazeDirConstraintType = 25

static const int	MinDistanceConstraintType = 26

static const int	GravityCompensationTorqueConstraintType = 27

Constructor & Destructor Documentation

MultipleTimeLinearPostureConstraint	(	RigidBodyTree *	model,
		const Eigen::Vector2d &	tspan = `DrakeRigidBodyConstraint::default_tspan`
	)

virtual ~MultipleTimeLinearPostureConstraint ( )

inlinevirtual

Member Function Documentation

virtual void bounds	(	const double *	t,
		int	n_breaks,
		Eigen::VectorXd &	lb,
		Eigen::VectorXd &	ub
	)		const

pure virtual

Implemented in PostureChangeConstraint.

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void eval	(	const double *	t,
		int	n_breaks,
		const Eigen::MatrixXd &	q,
		Eigen::VectorXd &	c,
		Eigen::SparseMatrix< double > &	dc
	)		const

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virtual void feval	(	const double *	t,
		int	n_breaks,
		const Eigen::MatrixXd &	q,
		Eigen::VectorXd &	c
	)		const

pure virtual

Implemented in PostureChangeConstraint.

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virtual int getNumConstraint	(	const double *	t,
		int	n_breaks
	)		const

pure virtual

Implemented in PostureChangeConstraint.

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virtual void geval	(	const double *	t,
		int	n_breaks,
		Eigen::VectorXi &	iAfun,
		Eigen::VectorXi &	jAvar,
		Eigen::VectorXd &	A
	)		const

pure virtual

Implemented in PostureChangeConstraint.

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std::vector< bool > isTimeValid	(	const double *	t,
		int	n_breaks
	)		const

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virtual void name	(	const double *	t,
		int	n_breaks,
		std::vector< std::string > &	name_str
	)		const

pure virtual

Implemented in PostureChangeConstraint.

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int numValidTime ( const std::vector< bool > & valid_flag ) const

protected

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void validTimeInd	(	const std::vector< bool > &	valid_flag,
		Eigen::VectorXi &	valid_t_ind
	)		const

protected

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

drake/systems/plants/constraint/RigidBodyConstraint.h
drake/systems/plants/constraint/RigidBodyConstraint.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation