Servo motor constraint. More...

#include <MimicMotorConstraint.hpp>

Inheritance diagram for dart::constraint::MimicMotorConstraint:

Public Member Functions
	MimicMotorConstraint (dynamics::Joint joint, const dynamics::Joint mimicJoint, double multiplier=1.0, double offset=0.0)
	Constructor.

	~MimicMotorConstraint () override
	Destructor.

const std::string &	getType () const override
	Returns a string representing the constraint type.

std::size_t	getDimension () const
	Return dimesion of this constranit.

virtual void	uniteSkeletons ()

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns constraint type for this class.

static void	setConstraintForceMixing (double cfm)
	Set global constraint force mixing parameter.

static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter.

static dynamics::SkeletonPtr	getRootSkeleton (dynamics::SkeletonPtr skeleton)

static dynamics::SkeletonPtr	compressPath (dynamics::SkeletonPtr skeleton)

Protected Member Functions
void	update () override
	Update constraint using updated Skeleton's states.

void	getInformation (ConstraintInfo *lcp) override
	Fill LCP variables.

void	applyUnitImpulse (std::size_t index) override
	Apply unit impulse to constraint space.

void	getVelocityChange (double *delVel, bool withCfm) override
	Get velocity change due to the uint impulse.

void	excite () override
	Excite the constraint.

void	unexcite () override
	Unexcite the constraint.

void	applyImpulse (double *lambda) override
	Apply computed constraint impulse to constrained skeletons.

dynamics::SkeletonPtr	getRootSkeleton () const override

bool	isActive () const override
	Return true if this constraint is active.

Protected Attributes
std::size_t	mDim
	Dimension of constraint.

Private Attributes
dynamics::Joint *	mJoint

const dynamics::Joint *	mMimicJoint

double	mMultiplier

double	mOffset

dynamics::BodyNode *	mBodyNode

std::size_t	mAppliedImpulseIndex
	Index of applied impulse.

std::size_t	mLifeTime [6]

bool	mActive [6]

double	mNegativeVelocityError [6]

double	mOldX [6]

double	mUpperBound [6]

double	mLowerBound [6]

Static Private Attributes
static double	mConstraintForceMixing = 1e-9
	Global constraint force mixing parameter in the range of [1e-9, 1].

Friends
class	ConstraintSolver

class	ConstrainedGroup

Detailed Description

Servo motor constraint.

Constructor & Destructor Documentation

◆ MimicMotorConstraint()

dart::constraint::MimicMotorConstraint::MimicMotorConstraint	(	dynamics::Joint *	joint,
		const dynamics::Joint *	mimicJoint,
		double	multiplier = `1.0`,
		double	offset = `0.0`
	)

explicit

Constructor.

◆ ~MimicMotorConstraint()

dart::constraint::MimicMotorConstraint::~MimicMotorConstraint ( )

override

Destructor.

Member Function Documentation

◆ applyImpulse()

void dart::constraint::MimicMotorConstraint::applyImpulse ( double * lambda )

overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

◆ applyUnitImpulse()

void dart::constraint::MimicMotorConstraint::applyUnitImpulse ( std::size_t index )

overrideprotectedvirtual

Apply unit impulse to constraint space.

Implements dart::constraint::ConstraintBase.

◆ compressPath()

dynamics::SkeletonPtr dart::constraint::ConstraintBase::compressPath ( dynamics::SkeletonPtr skeleton )

staticinherited

◆ excite()

void dart::constraint::MimicMotorConstraint::excite ( )

overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

◆ getConstraintForceMixing()

double dart::constraint::MimicMotorConstraint::getConstraintForceMixing ( )

static

Get global constraint force mixing parameter.

◆ getDimension()

std::size_t dart::constraint::ConstraintBase::getDimension ( ) const

inherited

Return dimesion of this constranit.

◆ getInformation()

void dart::constraint::MimicMotorConstraint::getInformation ( ConstraintInfo * info )

overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

◆ getRootSkeleton() [1/2]

dynamics::SkeletonPtr dart::constraint::MimicMotorConstraint::getRootSkeleton ( ) const

overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

◆ getRootSkeleton() [2/2]

dynamics::SkeletonPtr dart::constraint::ConstraintBase::getRootSkeleton ( dynamics::SkeletonPtr skeleton )

staticinherited

◆ getStaticType()

const std::string & dart::constraint::MimicMotorConstraint::getStaticType ( )

static

Returns constraint type for this class.

◆ getType()

const std::string & dart::constraint::MimicMotorConstraint::getType ( ) const

overridevirtual

Returns a string representing the constraint type.

Reimplemented from dart::constraint::ConstraintBase.

◆ getVelocityChange()

void dart::constraint::MimicMotorConstraint::getVelocityChange	(	double *	vel,
		bool	withCfm
	)

overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

◆ isActive()

bool dart::constraint::MimicMotorConstraint::isActive ( ) const

overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

◆ setConstraintForceMixing()

void dart::constraint::MimicMotorConstraint::setConstraintForceMixing ( double cfm )

static

Set global constraint force mixing parameter.

◆ unexcite()

void dart::constraint::MimicMotorConstraint::unexcite ( )

overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

◆ uniteSkeletons()

void dart::constraint::ConstraintBase::uniteSkeletons ( )

virtualinherited

Reimplemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ update()

void dart::constraint::MimicMotorConstraint::update ( )

overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

Friends And Related Symbol Documentation

◆ ConstrainedGroup

friend class ConstrainedGroup

friend

◆ ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

◆ mActive

bool dart::constraint::MimicMotorConstraint::mActive[6]

private

◆ mAppliedImpulseIndex

std::size_t dart::constraint::MimicMotorConstraint::mAppliedImpulseIndex

private

Index of applied impulse.

◆ mBodyNode

dynamics::BodyNode* dart::constraint::MimicMotorConstraint::mBodyNode

private

◆ mConstraintForceMixing

double dart::constraint::MimicMotorConstraint::mConstraintForceMixing = 1e-9

staticprivate

Global constraint force mixing parameter in the range of [1e-9, 1].

The default is 1e-5

See also: http://www.ode.org/ode-latest-userguide.html#sec_3_8_0

◆ mDim

std::size_t dart::constraint::ConstraintBase::mDim

protectedinherited

Dimension of constraint.

◆ mJoint

dynamics::Joint* dart::constraint::MimicMotorConstraint::mJoint

private

◆ mLifeTime

std::size_t dart::constraint::MimicMotorConstraint::mLifeTime[6]

private

◆ mLowerBound

double dart::constraint::MimicMotorConstraint::mLowerBound[6]

private

◆ mMimicJoint

const dynamics::Joint* dart::constraint::MimicMotorConstraint::mMimicJoint

private

◆ mMultiplier

double dart::constraint::MimicMotorConstraint::mMultiplier

private

◆ mNegativeVelocityError

double dart::constraint::MimicMotorConstraint::mNegativeVelocityError[6]

private

◆ mOffset

double dart::constraint::MimicMotorConstraint::mOffset

private

◆ mOldX

double dart::constraint::MimicMotorConstraint::mOldX[6]

private

◆ mUpperBound

double dart::constraint::MimicMotorConstraint::mUpperBound[6]

private

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Static Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ MimicMotorConstraint()

◆ ~MimicMotorConstraint()

Member Function Documentation

◆ applyImpulse()

◆ applyUnitImpulse()

◆ compressPath()

◆ excite()

◆ getConstraintForceMixing()

◆ getDimension()

◆ getInformation()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

◆ getStaticType()

◆ getType()

◆ getVelocityChange()

◆ isActive()

◆ setConstraintForceMixing()

◆ unexcite()

◆ uniteSkeletons()

◆ update()

Friends And Related Symbol Documentation

◆ ConstrainedGroup

◆ ConstraintSolver

Member Data Documentation

◆ mActive

◆ mAppliedImpulseIndex

◆ mBodyNode

◆ mConstraintForceMixing

◆ mDim

◆ mJoint

◆ mLifeTime

◆ mLowerBound

◆ mMimicJoint

◆ mMultiplier

◆ mNegativeVelocityError

◆ mOffset

◆ mOldX

◆ mUpperBound