PostureConstraint Class Reference

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

Inheritance diagram for PostureConstraint:

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Public Member Functions
	PostureConstraint (RigidBodyTree *model, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
virtual	~PostureConstraint (void)
bool	isTimeValid (const double *t) const
void	setJointLimits (int num_idx, const int *joint_idx, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
void	setJointLimits (const Eigen::VectorXi &joint_idx, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
void	bounds (const double *t, Eigen::VectorXd &joint_min, Eigen::VectorXd &joint_max) const
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

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
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

Constructor & Destructor Documentation

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

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virtual ~PostureConstraint ( void  )

inlinevirtual

Member Function Documentation

void bounds	(	const double *	t,
		Eigen::VectorXd &	joint_min,
		Eigen::VectorXd &	joint_max
	)		const

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bool isTimeValid

(

const double *

t

)

const

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void setJointLimits	(	int	num_idx,
		const int *	joint_idx,
		const Eigen::VectorXd &	lb,
		const Eigen::VectorXd &	ub
	)

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void setJointLimits	(	const Eigen::VectorXi &	joint_idx,
		const Eigen::VectorXd &	lb,
		const Eigen::VectorXd &	ub
	)

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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