WeldJointConstraint represents weld joint constraint between a body and the world or between two bodies.
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#include <WeldJointConstraint.hpp>
WeldJointConstraint represents weld joint constraint between a body and the world or between two bodies.
◆ WeldJointConstraint() [1/2]
Constructor that takes one body.
◆ WeldJointConstraint() [2/2]
Constructor that takes two bodies.
◆ ~WeldJointConstraint()
dart::constraint::WeldJointConstraint::~WeldJointConstraint |
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virtual |
◆ applyImpulse()
void dart::constraint::WeldJointConstraint::applyImpulse |
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double * |
lambda | ) |
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overrideprotectedvirtual |
◆ applyUnitImpulse()
void dart::constraint::WeldJointConstraint::applyUnitImpulse |
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std::size_t |
index | ) |
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overrideprotectedvirtual |
◆ compressPath()
◆ excite()
void dart::constraint::WeldJointConstraint::excite |
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overrideprotectedvirtual |
◆ getBodyNode1()
Get the first BodyNode that this constraint is associated with.
◆ getBodyNode2()
Get the second BodyNode that this constraint is associated with.
◆ getConstraintForceMixing()
double dart::constraint::JointConstraint::getConstraintForceMixing |
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staticinherited |
Get global constraint force mixing parameter.
◆ getDimension()
std::size_t dart::constraint::ConstraintBase::getDimension |
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const |
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inherited |
Return dimesion of this constranit.
◆ getErrorAllowance()
double dart::constraint::JointConstraint::getErrorAllowance |
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staticinherited |
Get global error reduction parameter.
◆ getErrorReductionParameter()
double dart::constraint::JointConstraint::getErrorReductionParameter |
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staticinherited |
Get global error reduction parameter.
◆ getInformation()
void dart::constraint::WeldJointConstraint::getInformation |
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ConstraintInfo * |
info | ) |
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overrideprotectedvirtual |
◆ getMaxErrorReductionVelocity()
double dart::constraint::JointConstraint::getMaxErrorReductionVelocity |
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staticinherited |
Get global error reduction parameter.
◆ getRelativeTransform()
const Eigen::Isometry3d & dart::constraint::WeldJointConstraint::getRelativeTransform |
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const |
◆ getRootSkeleton() [1/2]
◆ getRootSkeleton() [2/2]
◆ getStaticType()
const std::string & dart::constraint::WeldJointConstraint::getStaticType |
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Returns constraint type for this class.
◆ getType()
const std::string & dart::constraint::WeldJointConstraint::getType |
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const |
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overridevirtual |
◆ getVelocityChange()
void dart::constraint::WeldJointConstraint::getVelocityChange |
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double * |
vel, |
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bool |
withCfm |
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◆ isActive()
bool dart::constraint::WeldJointConstraint::isActive |
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const |
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◆ setConstraintForceMixing()
void dart::constraint::JointConstraint::setConstraintForceMixing |
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double |
_cfm | ) |
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staticinherited |
Set global constraint force mixing parameter.
◆ setErrorAllowance()
void dart::constraint::JointConstraint::setErrorAllowance |
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double |
_allowance | ) |
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staticinherited |
Set global error reduction parameter.
◆ setErrorReductionParameter()
void dart::constraint::JointConstraint::setErrorReductionParameter |
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double |
_erp | ) |
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staticinherited |
Set global error reduction parameter.
◆ setMaxErrorReductionVelocity()
void dart::constraint::JointConstraint::setMaxErrorReductionVelocity |
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double |
_erv | ) |
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staticinherited |
Set global error reduction parameter.
◆ setRelativeTransform()
void dart::constraint::WeldJointConstraint::setRelativeTransform |
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const Eigen::Isometry3d & |
_tf | ) |
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◆ unexcite()
void dart::constraint::WeldJointConstraint::unexcite |
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◆ uniteSkeletons()
void dart::constraint::WeldJointConstraint::uniteSkeletons |
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◆ update()
void dart::constraint::WeldJointConstraint::update |
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overrideprotectedvirtual |
◆ mAppliedImpulseIndex
std::size_t dart::constraint::WeldJointConstraint::mAppliedImpulseIndex |
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private |
Index of applied impulse.
◆ mBodyNode1
◆ mBodyNode2
◆ mConstraintForceMixing
double dart::constraint::JointConstraint::mConstraintForceMixing = 1e-9 |
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staticprotectedinherited |
◆ mDim
std::size_t dart::constraint::ConstraintBase::mDim |
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protectedinherited |
◆ mErrorAllowance
double dart::constraint::JointConstraint::mErrorAllowance = 0.0 |
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staticprotectedinherited |
Global constraint error allowance.
◆ mErrorReductionParameter
double dart::constraint::JointConstraint::mErrorReductionParameter = 0.01 |
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staticprotectedinherited |
Global constraint error redection parameter in the range of [0, 1].
The default is 0.01.
◆ mJacobian1
◆ mJacobian2
◆ mMaxErrorReductionVelocity
double dart::constraint::JointConstraint::mMaxErrorReductionVelocity = 1e+1 |
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staticprotectedinherited |
Maximum error reduction velocity.
◆ mOldX
double dart::constraint::WeldJointConstraint::mOldX[6] |
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private |
◆ mRelativeTransform
Eigen::Isometry3d dart::constraint::WeldJointConstraint::mRelativeTransform |
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private |
◆ mViolation