DART  6.10.1
ServoMotorConstraint.hpp
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32 
33 #ifndef DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
34 #define DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
35 
37 
38 namespace dart {
39 
40 namespace dynamics {
41 class BodyNode;
42 class Joint;
43 } // namespace dynamics
44 
45 namespace constraint {
46 
49 {
50 public:
52  explicit ServoMotorConstraint(dynamics::Joint* joint);
53 
55  virtual ~ServoMotorConstraint();
56 
57  // Documentation inherited
58  const std::string& getType() const override;
59 
61  static const std::string& getStaticType();
62 
63  //----------------------------------------------------------------------------
64  // Property settings
65  //----------------------------------------------------------------------------
66 
68  static void setConstraintForceMixing(double cfm);
69 
71  static double getConstraintForceMixing();
72 
73  //----------------------------------------------------------------------------
74  // Friendship
75  //----------------------------------------------------------------------------
76 
77  friend class ConstraintSolver;
78  friend class ConstrainedGroup;
79 
80 protected:
81  //----------------------------------------------------------------------------
82  // Constraint virtual functions
83  //----------------------------------------------------------------------------
84 
85  // Documentation inherited
86  void update() override;
87 
88  // Documentation inherited
89  void getInformation(ConstraintInfo* lcp) override;
90 
91  // Documentation inherited
92  void applyUnitImpulse(std::size_t index) override;
93 
94  // Documentation inherited
95  void getVelocityChange(double* delVel, bool withCfm) override;
96 
97  // Documentation inherited
98  void excite() override;
99 
100  // Documentation inherited
101  void unexcite() override;
102 
103  // Documentation inherited
104  void applyImpulse(double* lambda) override;
105 
106  // Documentation inherited
107  dynamics::SkeletonPtr getRootSkeleton() const override;
108 
109  // Documentation inherited
110  bool isActive() const override;
111 
112 private:
115 
118 
120  std::size_t mAppliedImpulseIndex;
121 
123  std::size_t mLifeTime[6];
124  // TODO(JS): Lifetime should be considered only when we use iterative lcp
125  // solver
126 
128  bool mActive[6];
129 
132 
134  double mOldX[6];
135 
137  double mUpperBound[6];
138 
140  double mLowerBound[6];
141 
145  static double mConstraintForceMixing;
146 };
147 
148 } // namespace constraint
149 } // namespace dart
150 
151 #endif // DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
std::size_t index
Definition: SkelParser.cpp:1672
ConstrainedGroup is a group of skeletons that interact each other with constraints.
Definition: ConstrainedGroup.hpp:58
Constraint is a base class of concrete constraints classes.
Definition: ConstraintBase.hpp:75
ConstraintSolver manages constraints and computes constraint impulses.
Definition: ConstraintSolver.hpp:57
Servo motor constraint.
Definition: ServoMotorConstraint.hpp:49
bool isActive() const override
Return true if this constraint is active.
Definition: ServoMotorConstraint.cpp:287
void getVelocityChange(double *delVel, bool withCfm) override
Get velocity change due to the uint impulse.
Definition: ServoMotorConstraint.cpp:218
double mUpperBound[6]
Definition: ServoMotorConstraint.hpp:137
dynamics::Joint * mJoint
Definition: ServoMotorConstraint.hpp:114
static double getConstraintForceMixing()
Get global constraint force mixing parameter.
Definition: ServoMotorConstraint.cpp:111
double mOldX[6]
Definition: ServoMotorConstraint.hpp:134
ServoMotorConstraint(dynamics::Joint *joint)
Constructor.
Definition: ServoMotorConstraint.cpp:52
static void setConstraintForceMixing(double cfm)
Set global constraint force mixing parameter.
Definition: ServoMotorConstraint.cpp:95
dynamics::BodyNode * mBodyNode
Definition: ServoMotorConstraint.hpp:117
void unexcite() override
Unexcite the constraint.
Definition: ServoMotorConstraint.cpp:255
static double mConstraintForceMixing
Global constraint force mixing parameter in the range of [1e-9, 1].
Definition: ServoMotorConstraint.hpp:145
const std::string & getType() const override
Returns a string representing the constraint type.
Definition: ServoMotorConstraint.cpp:82
void getInformation(ConstraintInfo *lcp) override
Fill LCP variables.
Definition: ServoMotorConstraint.cpp:162
void applyImpulse(double *lambda) override
Apply computed constraint impulse to constrained skeletons.
Definition: ServoMotorConstraint.cpp:261
double mLowerBound[6]
Definition: ServoMotorConstraint.hpp:140
void update() override
Update constraint using updated Skeleton's states.
Definition: ServoMotorConstraint.cpp:117
void excite() override
Excite the constraint.
Definition: ServoMotorConstraint.cpp:249
void applyUnitImpulse(std::size_t index) override
Apply unit impulse to constraint space.
Definition: ServoMotorConstraint.cpp:189
double mNegativeVelocityError[6]
Definition: ServoMotorConstraint.hpp:131
dynamics::SkeletonPtr getRootSkeleton() const override
Definition: ServoMotorConstraint.cpp:281
std::size_t mAppliedImpulseIndex
Index of applied impulse.
Definition: ServoMotorConstraint.hpp:120
bool mActive[6]
Definition: ServoMotorConstraint.hpp:128
virtual ~ServoMotorConstraint()
Destructor.
Definition: ServoMotorConstraint.cpp:77
static const std::string & getStaticType()
Returns constraint type for this class.
Definition: ServoMotorConstraint.cpp:88
std::size_t mLifeTime[6]
Definition: ServoMotorConstraint.hpp:123
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
class Joint
Definition: Joint.hpp:60
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
Definition: BulletCollisionDetector.cpp:65
ConstraintInfo.
Definition: ConstraintBase.hpp:50