dart::constraint::ConstrainedGroup Class Reference

ConstrainedGroup is a group of skeletons that interact each other with constraints. More...

#include <ConstrainedGroup.hpp>

Public Member Functions
	ConstrainedGroup ()
	Default contructor.
virtual	~ConstrainedGroup ()
	Destructor.
void	addConstraint (const ConstraintBasePtr &_constraint)
	Add constraint.
std::size_t	getNumConstraints () const
	Return number of constraints in this constrained group.
ConstraintBasePtr	getConstraint (std::size_t _index)
	Return a constraint.
ConstConstraintBasePtr	getConstraint (std::size_t _index) const
	Return a constraint.
void	removeConstraint (const ConstraintBasePtr &_constraint)
	Remove constraint.
void	removeAllConstraints ()
	Remove all constraints.
std::size_t	getTotalDimension () const
	Get total dimension of contraints in this group.

Private Member Functions
bool	containConstraint (const ConstConstraintBasePtr &_constraint) const
	Return true if _constraint is contained.

Private Attributes
std::vector< ConstraintBasePtr >	mConstraints
	List of constraints.
std::shared_ptr< dynamics::Skeleton >	mRootSkeleton

Friends
class	ConstraintSolver

Detailed Description

ConstrainedGroup is a group of skeletons that interact each other with constraints.

See also

class ConstraintSolver

Constructor & Destructor Documentation

ConstrainedGroup()

dart::constraint::ConstrainedGroup::ConstrainedGroup

(

)

Default contructor.

~ConstrainedGroup()

dart::constraint::ConstrainedGroup::~ConstrainedGroup ( )

virtual

Destructor.

Member Function Documentation

addConstraint()

void dart::constraint::ConstrainedGroup::addConstraint

(

const ConstraintBasePtr &

_constraint

)

Add constraint.

containConstraint()

bool dart::constraint::ConstrainedGroup::containConstraint ( const ConstConstraintBasePtr &  _constraint ) const

private

Return true if _constraint is contained.

getConstraint() [1/2]

ConstraintBasePtr dart::constraint::ConstrainedGroup::getConstraint

(

std::size_t

_index

)

Return a constraint.

getConstraint() [2/2]

ConstConstraintBasePtr dart::constraint::ConstrainedGroup::getConstraint

(

std::size_t

_index

)

const

Return a constraint.

getNumConstraints()

std::size_t dart::constraint::ConstrainedGroup::getNumConstraints

(

)

const

Return number of constraints in this constrained group.

getTotalDimension()

std::size_t dart::constraint::ConstrainedGroup::getTotalDimension

(

)

const

Get total dimension of contraints in this group.

removeAllConstraints()

void dart::constraint::ConstrainedGroup::removeAllConstraints

(

)

Remove all constraints.

removeConstraint()

void dart::constraint::ConstrainedGroup::removeConstraint

(

const ConstraintBasePtr &

_constraint

)

Remove constraint.

Friends And Related Symbol Documentation

ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

mConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstrainedGroup::mConstraints

private

List of constraints.

mRootSkeleton

std::shared_ptr<dynamics::Skeleton> dart::constraint::ConstrainedGroup::mRootSkeleton

private