dart::dynamics::PointMass::Properties Struct Reference

Properties for each PointMass. More...

#include <PointMass.hpp>

Public Member Functions
	Properties (const Eigen::Vector3d &_X0=Eigen::Vector3d::Zero(), double _mass=0.0005, const std::vector< std::size_t > &_connections=std::vector< std::size_t >(), const Eigen::Vector3d &_positionLowerLimits=Eigen::Vector3d::Constant(-math::constantsd::inf()), const Eigen::Vector3d &_positionUpperLimits=Eigen::Vector3d::Constant(math::constantsd::inf()), const Eigen::Vector3d &_velocityLowerLimits=Eigen::Vector3d::Constant(-math::constantsd::inf()), const Eigen::Vector3d &_velocityUpperLimits=Eigen::Vector3d::Constant(math::constantsd::inf()), const Eigen::Vector3d &_accelerationLowerLimits=Eigen::Vector3d::Constant(-math::constantsd::inf()), const Eigen::Vector3d &_accelerationUpperLimits=Eigen::Vector3d::Constant(math::constantsd::inf()), const Eigen::Vector3d &_forceLowerLimits=Eigen::Vector3d::Constant(-math::constantsd::inf()), const Eigen::Vector3d &_forceUpperLimits=Eigen::Vector3d::Constant(math::constantsd::inf()))
void	setRestingPosition (const Eigen::Vector3d &_x)
void	setMass (double _mass)
bool	operator== (const Properties &other) const
bool	operator!= (const Properties &other) const
virtual	~Properties ()=default

Public Attributes
Eigen::Vector3d	mX0
	Resting position viewed in the parent SoftBodyNode frame.
double	mMass
	Mass.
std::vector< std::size_t >	mConnectedPointMassIndices
	Indices of connected Point Masses.
Eigen::Vector3d	mPositionLowerLimits
	Lower limit of position.
Eigen::Vector3d	mPositionUpperLimits
	Upper limit of position.
Eigen::Vector3d	mVelocityLowerLimits
	Min value allowed.
Eigen::Vector3d	mVelocityUpperLimits
	Max value allowed.
Eigen::Vector3d	mAccelerationLowerLimits
	Min value allowed.
Eigen::Vector3d	mAccelerationUpperLimits
	upper limit of generalized acceleration
Eigen::Vector3d	mForceLowerLimits
	Min value allowed.
Eigen::Vector3d	mForceUpperLimits
	Max value allowed.

Detailed Description

Properties for each PointMass.

Constructor & Destructor Documentation

Properties()

dart::dynamics::PointMass::Properties::Properties	(	const Eigen::Vector3d &	_X0 = Eigen::Vector3d::Zero(),
		double	_mass = 0.0005,
		const std::vector< std::size_t > &	_connections = std::vector<std::size_t>(),
		const Eigen::Vector3d &	_positionLowerLimits = Eigen::Vector3d::Constant(-math::constantsd::inf()),
		const Eigen::Vector3d &	_positionUpperLimits = Eigen::Vector3d::Constant(math::constantsd::inf()),
		const Eigen::Vector3d &	_velocityLowerLimits = Eigen::Vector3d::Constant(-math::constantsd::inf()),
		const Eigen::Vector3d &	_velocityUpperLimits = Eigen::Vector3d::Constant(math::constantsd::inf()),
		const Eigen::Vector3d &	_accelerationLowerLimits = Eigen::Vector3d::Constant(-math::constantsd::inf()),
		const Eigen::Vector3d &	_accelerationUpperLimits = Eigen::Vector3d::Constant(math::constantsd::inf()),
		const Eigen::Vector3d &	_forceLowerLimits = Eigen::Vector3d::Constant(-math::constantsd::inf()),
		const Eigen::Vector3d &	_forceUpperLimits = Eigen::Vector3d::Constant(math::constantsd::inf())
	)

~Properties()

virtual dart::dynamics::PointMass::Properties::~Properties ( )

virtualdefault

Member Function Documentation

operator!=()

bool dart::dynamics::PointMass::Properties::operator!=

(

const Properties &

other

)

const

operator==()

bool dart::dynamics::PointMass::Properties::operator==

(

const Properties &

other

)

const

setMass()

void dart::dynamics::PointMass::Properties::setMass

(

double

_mass

)

setRestingPosition()

void dart::dynamics::PointMass::Properties::setRestingPosition

(

const Eigen::Vector3d &

_x

)

Member Data Documentation

mAccelerationLowerLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mAccelerationLowerLimits

Min value allowed.

mAccelerationUpperLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mAccelerationUpperLimits

upper limit of generalized acceleration

mConnectedPointMassIndices

std::vector<std::size_t> dart::dynamics::PointMass::Properties::mConnectedPointMassIndices

Indices of connected Point Masses.

mForceLowerLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mForceLowerLimits

Min value allowed.

mForceUpperLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mForceUpperLimits

Max value allowed.

mMass

double dart::dynamics::PointMass::Properties::mMass

Mass.

mPositionLowerLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mPositionLowerLimits

Lower limit of position.

mPositionUpperLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mPositionUpperLimits

Upper limit of position.

mVelocityLowerLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mVelocityLowerLimits

Min value allowed.

mVelocityUpperLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mVelocityUpperLimits

Max value allowed.

mX0

Eigen::Vector3d dart::dynamics::PointMass::Properties::mX0

Resting position viewed in the parent SoftBodyNode frame.