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

Inheritance diagram for WorldFixedBodyPoseConstraint:

Collaboration diagram for WorldFixedBodyPoseConstraint:

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

virtual	~WorldFixedBodyPoseConstraint (void)

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

virtual void	eval_valid (const double *valid_t, int num_valid_t, const Eigen::MatrixXd &valid_q, Eigen::VectorXd &c, Eigen::MatrixXd &dc_valid) const

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

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

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

virtual	~MultipleTimeKinematicConstraint ()

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::MatrixXd &dc) 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

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 MultipleTimeKinematicConstraint
int	numValidTime (const double *t, int n_breaks) 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

Constructor & Destructor Documentation

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

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virtual ~WorldFixedBodyPoseConstraint ( void )

inlinevirtual

Member Function Documentation

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

virtual

Implements MultipleTimeKinematicConstraint.

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void eval_valid	(	const double *	valid_t,
		int	num_valid_t,
		const Eigen::MatrixXd &	valid_q,
		Eigen::VectorXd &	c,
		Eigen::MatrixXd &	dc_valid
	)		const

virtual

Implements MultipleTimeKinematicConstraint.

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

virtual

Implements MultipleTimeKinematicConstraint.

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

virtual

Implements MultipleTimeKinematicConstraint.

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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

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation