Servo motor constraint.
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#include <MimicMotorConstraint.hpp>
◆ MimicMotorConstraint()
dart::constraint::MimicMotorConstraint::MimicMotorConstraint |
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dynamics::Joint * |
joint, |
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const dynamics::Joint * |
mimicJoint, |
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double |
multiplier = 1.0 , |
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double |
offset = 0.0 |
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explicit |
◆ ~MimicMotorConstraint()
dart::constraint::MimicMotorConstraint::~MimicMotorConstraint |
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override |
◆ applyImpulse()
void dart::constraint::MimicMotorConstraint::applyImpulse |
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double * |
lambda | ) |
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overrideprotectedvirtual |
◆ applyUnitImpulse()
void dart::constraint::MimicMotorConstraint::applyUnitImpulse |
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std::size_t |
index | ) |
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overrideprotectedvirtual |
◆ compressPath()
◆ excite()
void dart::constraint::MimicMotorConstraint::excite |
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overrideprotectedvirtual |
◆ getConstraintForceMixing()
double dart::constraint::MimicMotorConstraint::getConstraintForceMixing |
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static |
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.
◆ getInformation()
void dart::constraint::MimicMotorConstraint::getInformation |
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ConstraintInfo * |
info | ) |
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overrideprotectedvirtual |
◆ getRootSkeleton() [1/2]
◆ getRootSkeleton() [2/2]
◆ getStaticType()
const std::string & dart::constraint::MimicMotorConstraint::getStaticType |
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static |
Returns constraint type for this class.
◆ getType()
const std::string & dart::constraint::MimicMotorConstraint::getType |
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const |
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overridevirtual |
◆ getVelocityChange()
void dart::constraint::MimicMotorConstraint::getVelocityChange |
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double * |
vel, |
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bool |
withCfm |
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overrideprotectedvirtual |
◆ isActive()
bool dart::constraint::MimicMotorConstraint::isActive |
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const |
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overrideprotectedvirtual |
◆ setConstraintForceMixing()
void dart::constraint::MimicMotorConstraint::setConstraintForceMixing |
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double |
cfm | ) |
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static |
Set global constraint force mixing parameter.
◆ unexcite()
void dart::constraint::MimicMotorConstraint::unexcite |
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overrideprotectedvirtual |
◆ uniteSkeletons()
void dart::constraint::ConstraintBase::uniteSkeletons |
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virtualinherited |
◆ update()
void dart::constraint::MimicMotorConstraint::update |
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overrideprotectedvirtual |
◆ ConstrainedGroup
◆ ConstraintSolver
◆ mActive
bool dart::constraint::MimicMotorConstraint::mActive[6] |
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private |
◆ mAppliedImpulseIndex
std::size_t dart::constraint::MimicMotorConstraint::mAppliedImpulseIndex |
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private |
Index of applied impulse.
◆ mBodyNode
◆ mConstraintForceMixing
double dart::constraint::MimicMotorConstraint::mConstraintForceMixing = 1e-9 |
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staticprivate |
◆ mDim
std::size_t dart::constraint::ConstraintBase::mDim |
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protectedinherited |
◆ mJoint
◆ mLifeTime
std::size_t dart::constraint::MimicMotorConstraint::mLifeTime[6] |
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private |
◆ mLowerBound
double dart::constraint::MimicMotorConstraint::mLowerBound[6] |
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private |
◆ mMimicJoint
◆ mMultiplier
double dart::constraint::MimicMotorConstraint::mMultiplier |
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private |
◆ mNegativeVelocityError
double dart::constraint::MimicMotorConstraint::mNegativeVelocityError[6] |
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private |
◆ mOffset
double dart::constraint::MimicMotorConstraint::mOffset |
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private |
◆ mOldX
double dart::constraint::MimicMotorConstraint::mOldX[6] |
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private |
◆ mUpperBound
double dart::constraint::MimicMotorConstraint::mUpperBound[6] |
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private |