BallJointConstraint represents ball joint constraint between a body and the world or between two bodies.
More...
#include <BallJointConstraint.hpp>
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Eigen::Vector3d | mOffset1 |
| Offset from the origin of body frame 1 to the ball joint position where the offset is expressed in body frame 1. More...
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Eigen::Vector3d | mOffset2 |
| Offset from the origin of body frame 2 to the ball joint position where the offset is expressed in body frame 2. More...
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Eigen::Vector3d | mViolation |
| Position constraint violation expressed in body frame 1. More...
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Eigen::Matrix< double, 3, 6 > | mJacobian1 |
| Linear map between constraint space and Cartesian space for body1. More...
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Eigen::Matrix< double, 3, 6 > | mJacobian2 |
| Linear map between constraint space and Cartesian space for body2. More...
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double | mOldX [3] |
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std::size_t | mAppliedImpulseIndex |
| Index of applied impulse. More...
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BallJointConstraint represents ball joint constraint between a body and the world or between two bodies.
◆ BallJointConstraint() [1/2]
dart::constraint::BallJointConstraint::BallJointConstraint |
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dynamics::BodyNode * |
_body, |
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const Eigen::Vector3d & |
_jointPos |
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) |
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Constructor that takes one body and the joint position in the world frame.
- Parameters
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[in] | _body | |
[in] | _jointPos | Joint position expressed in world frame |
◆ BallJointConstraint() [2/2]
Constructor that takes two bodies and the joint position in the frame of _body1.
- Parameters
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[in] | _body1 | |
[in] | _body2 | |
[in] | _jointPos | Joint position expressed in world frame |
◆ ~BallJointConstraint()
dart::constraint::BallJointConstraint::~BallJointConstraint |
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virtual |
◆ applyImpulse()
void dart::constraint::BallJointConstraint::applyImpulse |
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double * |
lambda | ) |
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overrideprotectedvirtual |
◆ applyUnitImpulse()
void dart::constraint::BallJointConstraint::applyUnitImpulse |
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std::size_t |
index | ) |
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overrideprotectedvirtual |
◆ compressPath()
◆ excite()
void dart::constraint::BallJointConstraint::excite |
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overrideprotectedvirtual |
◆ getBodyNode1()
Get the first BodyNode that this constraint is associated with.
◆ getBodyNode2()
Get the second BodyNode that this constraint is associated with.
◆ getConstraintForceMixing()
double dart::constraint::JointConstraint::getConstraintForceMixing |
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staticinherited |
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.
◆ getErrorAllowance()
double dart::constraint::JointConstraint::getErrorAllowance |
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staticinherited |
Get global error reduction parameter.
◆ getErrorReductionParameter()
double dart::constraint::JointConstraint::getErrorReductionParameter |
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staticinherited |
Get global error reduction parameter.
◆ getInformation()
void dart::constraint::BallJointConstraint::getInformation |
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ConstraintInfo * |
info | ) |
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overrideprotectedvirtual |
◆ getMaxErrorReductionVelocity()
double dart::constraint::JointConstraint::getMaxErrorReductionVelocity |
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staticinherited |
Get global error reduction parameter.
◆ getRootSkeleton() [1/2]
◆ getRootSkeleton() [2/2]
◆ getStaticType()
const std::string & dart::constraint::BallJointConstraint::getStaticType |
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static |
Returns constraint type for this class.
◆ getType()
const std::string & dart::constraint::BallJointConstraint::getType |
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const |
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overridevirtual |
◆ getVelocityChange()
void dart::constraint::BallJointConstraint::getVelocityChange |
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double * |
vel, |
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bool |
withCfm |
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overrideprotectedvirtual |
◆ isActive()
bool dart::constraint::BallJointConstraint::isActive |
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const |
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overrideprotectedvirtual |
◆ setConstraintForceMixing()
void dart::constraint::JointConstraint::setConstraintForceMixing |
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double |
_cfm | ) |
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staticinherited |
Set global constraint force mixing parameter.
◆ setErrorAllowance()
void dart::constraint::JointConstraint::setErrorAllowance |
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double |
_allowance | ) |
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staticinherited |
Set global error reduction parameter.
◆ setErrorReductionParameter()
void dart::constraint::JointConstraint::setErrorReductionParameter |
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double |
_erp | ) |
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staticinherited |
Set global error reduction parameter.
◆ setMaxErrorReductionVelocity()
void dart::constraint::JointConstraint::setMaxErrorReductionVelocity |
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double |
_erv | ) |
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staticinherited |
Set global error reduction parameter.
◆ unexcite()
void dart::constraint::BallJointConstraint::unexcite |
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overrideprotectedvirtual |
◆ uniteSkeletons()
void dart::constraint::BallJointConstraint::uniteSkeletons |
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overrideprotectedvirtual |
◆ update()
void dart::constraint::BallJointConstraint::update |
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overrideprotectedvirtual |
◆ mAppliedImpulseIndex
std::size_t dart::constraint::BallJointConstraint::mAppliedImpulseIndex |
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private |
Index of applied impulse.
◆ mBodyNode1
◆ mBodyNode2
◆ mConstraintForceMixing
double dart::constraint::JointConstraint::mConstraintForceMixing = 1e-9 |
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staticprotectedinherited |
◆ mDim
std::size_t dart::constraint::ConstraintBase::mDim |
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protectedinherited |
◆ mErrorAllowance
double dart::constraint::JointConstraint::mErrorAllowance = 0.0 |
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staticprotectedinherited |
Global constraint error allowance.
◆ mErrorReductionParameter
double dart::constraint::JointConstraint::mErrorReductionParameter = 0.01 |
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staticprotectedinherited |
Global constraint error redection parameter in the range of [0, 1].
The default is 0.01.
◆ mJacobian1
Eigen::Matrix<double, 3, 6> dart::constraint::BallJointConstraint::mJacobian1 |
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private |
Linear map between constraint space and Cartesian space for body1.
◆ mJacobian2
Eigen::Matrix<double, 3, 6> dart::constraint::BallJointConstraint::mJacobian2 |
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private |
Linear map between constraint space and Cartesian space for body2.
◆ mMaxErrorReductionVelocity
double dart::constraint::JointConstraint::mMaxErrorReductionVelocity = 1e+1 |
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staticprotectedinherited |
Maximum error reduction velocity.
◆ mOffset1
Eigen::Vector3d dart::constraint::BallJointConstraint::mOffset1 |
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private |
Offset from the origin of body frame 1 to the ball joint position where the offset is expressed in body frame 1.
◆ mOffset2
Eigen::Vector3d dart::constraint::BallJointConstraint::mOffset2 |
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private |
Offset from the origin of body frame 2 to the ball joint position where the offset is expressed in body frame 2.
◆ mOldX
double dart::constraint::BallJointConstraint::mOldX[3] |
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private |
◆ mViolation
Eigen::Vector3d dart::constraint::BallJointConstraint::mViolation |
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private |
Position constraint violation expressed in body frame 1.