DART  6.10.1
JointConstraint.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
34 #define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
35 
37 
38 namespace dart {
39 
40 namespace dynamics {
41 class BodyNode;
42 } // namespace dynamics
43 
44 namespace constraint {
45 
48 {
49 public:
51  explicit JointConstraint(dynamics::BodyNode* _body);
52 
55 
57  virtual ~JointConstraint();
58 
59  //----------------------------------------------------------------------------
60  // Property settings
61  //----------------------------------------------------------------------------
62 
64  static void setErrorAllowance(double _allowance);
65 
67  static double getErrorAllowance();
68 
70  static void setErrorReductionParameter(double _erp);
71 
73  static double getErrorReductionParameter();
74 
76  static void setMaxErrorReductionVelocity(double _erv);
77 
79  static double getMaxErrorReductionVelocity();
80 
82  static void setConstraintForceMixing(double _cfm);
83 
85  static double getConstraintForceMixing();
86 
89 
92 
93 protected:
96 
99 
101  static double mErrorAllowance;
102 
106 
109 
113  static double mConstraintForceMixing;
114 };
115 
116 } // namespace constraint
117 } // namespace dart
118 
119 #endif // DART_CONSTRAINT_CONSTRAINT_HPP_
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