Drake
Public Member Functions | List of all members
SingleTimeLinearPostureConstraint Class Reference

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

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Public Member Functions

 SingleTimeLinearPostureConstraint (RigidBodyTree *robot, const Eigen::VectorXi &iAfun, const Eigen::VectorXi &jAvar, const Eigen::VectorXd &A, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
virtual ~SingleTimeLinearPostureConstraint (void)
 
bool isTimeValid (const double *t) const
 
int getNumConstraint (const double *t) const
 
void bounds (const double *t, Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
 
void feval (const double *t, const Eigen::VectorXd &q, Eigen::VectorXd &c) const
 
void geval (const double *t, Eigen::VectorXi &iAfun, Eigen::VectorXi &jAvar, Eigen::VectorXd &A) const
 
void eval (const double *t, const Eigen::VectorXd &q, Eigen::VectorXd &c, Eigen::SparseMatrix< double > &dc) const
 
void name (const double *t, std::vector< std::string > &name_str) 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

SingleTimeLinearPostureConstraint ( RigidBodyTree *  robot,
const Eigen::VectorXi &  iAfun,
const Eigen::VectorXi &  jAvar,
const Eigen::VectorXd &  A,
const Eigen::VectorXd &  lb,
const Eigen::VectorXd &  ub,
const Eigen::Vector2d &  tspan = DrakeRigidBodyConstraint::default_tspan 
)

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virtual ~SingleTimeLinearPostureConstraint ( void  )
inlinevirtual

Member Function Documentation

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

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

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void feval ( const double *  t,
const Eigen::VectorXd &  q,
Eigen::VectorXd &  c 
) const

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int getNumConstraint ( const double *  t) const

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

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bool isTimeValid ( const double *  t) const

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

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