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

Inheritance diagram for WorldCoMConstraint:

Collaboration diagram for WorldCoMConstraint:

Public Member Functions
	WorldCoMConstraint (RigidBodyTree *model, Eigen::Vector3d lb, Eigen::Vector3d ub, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan, const std::set< int > &robotnum=WorldCoMConstraint::defaultRobotNumSet)

virtual	~WorldCoMConstraint ()

void	updateRobotnum (const std::set< int > &robotnum)

Public Member Functions inherited from PositionConstraint
	PositionConstraint (RigidBodyTree *model, const Eigen::Matrix3Xd &pts, Eigen::MatrixXd lb, Eigen::MatrixXd ub, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)

virtual	~PositionConstraint (void)

virtual void	eval (const double *t, KinematicsCache< double > &cache, Eigen::VectorXd &c, Eigen::MatrixXd &dc) const

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

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

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

virtual	~SingleTimeKinematicConstraint ()

bool	isTimeValid (const double *t) const

int	getNumConstraint (const double *t) const

virtual void	updateRobot (RigidBodyTree *robot)

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
virtual void	evalPositions (KinematicsCache< double > &cache, Eigen::Matrix3Xd &pos, Eigen::MatrixXd &J) const

virtual void	evalNames (const double *t, std::vector< std::string > &cnst_names) const

Protected Member Functions inherited from PositionConstraint
const Eigen::Matrix3Xd &	get_pts () const

int	get_n_pts () const

Protected Member Functions inherited from SingleTimeKinematicConstraint
void	set_num_constraint (int num_constraint)

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

WorldCoMConstraint	(	RigidBodyTree *	model,
		Eigen::Vector3d	lb,
		Eigen::Vector3d	ub,
		const Eigen::Vector2d &	tspan = `DrakeRigidBodyConstraint::default_tspan`,
		const std::set< int > &	robotnum = `WorldCoMConstraint::defaultRobotNumSet`
	)