RigidBodyConstraint Class Reference

base class. More...

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

Inheritance diagram for RigidBodyConstraint:

Collaboration diagram for RigidBodyConstraint:

Public Member Functions
	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

Static Public Attributes
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
std::string	getTimeString (const double *t) const
void	set_type (int type)
void	set_robot (RigidBodyTree *robot)
const double *	tspan () const

Detailed Description

base class.

All constraints used in the inverse kinematics problem are inherited from RigidBodyConstraint. There are 6 main categories of the RigidBodyConstraint, each category has its own interface

Constructor & Destructor Documentation

RigidBodyConstraint	(	int	category,
		RigidBodyTree *	robot,
		const Eigen::Vector2d &	tspan = DrakeRigidBodyConstraint::default_tspan
	)

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~RigidBodyConstraint ( void  )

pure virtual

Member Function Documentation

int getCategory ( ) const

inline

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RigidBodyTree* getRobotPointer ( ) const

inline

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std::string getTimeString ( const double *  t ) const

protected

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int getType ( ) const

inline

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void set_robot ( RigidBodyTree *  robot )

inlineprotected

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void set_type ( int  type )

inlineprotected

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const double* tspan ( ) const

inlineprotected

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Member Data Documentation

const int AllBodiesClosestDistanceConstraintType = 4

static

const int GravityCompensationTorqueConstraintType = 27

static

const int MinDistanceConstraintType = 26

static

const int MultipleTimeKinematicConstraintCategory = -2

static

const int MultipleTimeLinearPostureConstraintCategory = -5

static

const int Point2LineSegDistConstraintType = 15

static

const int Point2PointDistanceConstraintType = 14

static

const int PostureChangeConstraintType = 19

static

const int PostureConstraintCategory = -4

static

const int PostureConstraintType = 2

static

const int QuasiStaticConstraintCategory = -3

static

const int QuasiStaticConstraintType = 1

static

const int RelativeGazeDirConstraintType = 25

static

const int RelativeGazeTargetConstraintType = 9

static

const int RelativePositionConstraintType = 20

static

const int RelativeQuatConstraintType = 24

static

const int SingleTimeKinematicConstraintCategory = -1

static

const int SingleTimeLinearPostureConstraintCategory = -6

static

const int SingleTimeLinearPostureConstraintType = 3

static

const int WorldCoMConstraintType = 10

static

const int WorldEulerConstraintType = 5

static

const int WorldFixedBodyPoseConstraintType = 18

static

const int WorldFixedOrientConstraintType = 17

static

const int WorldFixedPositionConstraintType = 16

static

const int WorldGazeDirConstraintType = 6

static

const int WorldGazeOrientConstraintType = 7

static

const int WorldGazeTargetConstraintType = 8

static

const int WorldPositionConstraintType = 11

static

const int WorldPositionInFrameConstraintType = 12

static

const int WorldQuatConstraintType = 13

static

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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