33 #ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
34 #define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
44 namespace constraint {
Constraint is a base class of concrete constraints classes.
Definition: ConstraintBase.hpp:75
class JointConstraint
Definition: JointConstraint.hpp:48
static void setMaxErrorReductionVelocity(double _erv)
Set global error reduction parameter.
Definition: JointConstraint.cpp:122
static double getErrorReductionParameter()
Get global error reduction parameter.
Definition: JointConstraint.cpp:116
static double mErrorReductionParameter
Global constraint error redection parameter in the range of [0, 1].
Definition: JointConstraint.hpp:105
JointConstraint(dynamics::BodyNode *_body)
Contructor.
Definition: JointConstraint.cpp:54
static double mMaxErrorReductionVelocity
Maximum error reduction velocity.
Definition: JointConstraint.hpp:108
static double mConstraintForceMixing
Global constraint force mixing parameter in the range of [1e-9, 1].
Definition: JointConstraint.hpp:113
static double getMaxErrorReductionVelocity()
Get global error reduction parameter.
Definition: JointConstraint.cpp:137
dynamics::BodyNode * mBodyNode2
Second body node.
Definition: JointConstraint.hpp:98
virtual ~JointConstraint()
Destructor.
Definition: JointConstraint.cpp:70
static void setConstraintForceMixing(double _cfm)
Set global constraint force mixing parameter.
Definition: JointConstraint.cpp:143
static double getConstraintForceMixing()
Get global constraint force mixing parameter.
Definition: JointConstraint.cpp:158
dynamics::BodyNode * getBodyNode1() const
Get the first BodyNode that this constraint is associated with.
Definition: JointConstraint.cpp:164
static double mErrorAllowance
Global constraint error allowance.
Definition: JointConstraint.hpp:101
dynamics::BodyNode * mBodyNode1
First body node.
Definition: JointConstraint.hpp:95
static void setErrorReductionParameter(double _erp)
Set global error reduction parameter.
Definition: JointConstraint.cpp:96
static double getErrorAllowance()
Get global error reduction parameter.
Definition: JointConstraint.cpp:90
dynamics::BodyNode * getBodyNode2() const
Get the second BodyNode that this constraint is associated with.
Definition: JointConstraint.cpp:170
static void setErrorAllowance(double _allowance)
Set global error reduction parameter.
Definition: JointConstraint.cpp:75
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
Definition: BulletCollisionDetector.cpp:65