33 #ifndef DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
34 #define DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
45 namespace constraint {
58 const std::string&
getType()
const override;
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