#include <JointConstraint.hpp>

Inheritance diagram for dart::constraint::JointConstraint:

Public Member Functions
	JointConstraint (dynamics::BodyNode *_body)
	Contructor.

	JointConstraint (dynamics::BodyNode _body1, dynamics::BodyNode _body2)
	Contructor.

virtual	~JointConstraint ()
	Destructor.

dynamics::BodyNode *	getBodyNode1 () const
	Get the first BodyNode that this constraint is associated with.

dynamics::BodyNode *	getBodyNode2 () const
	Get the second BodyNode that this constraint is associated with.

virtual const std::string &	getType () const
	Returns a string representing the constraint type.

std::size_t	getDimension () const
	Return dimesion of this constranit.

virtual void	update ()=0
	Update constraint using updated Skeleton's states.

virtual void	getInformation (ConstraintInfo *info)=0
	Fill LCP variables.

virtual void	applyUnitImpulse (std::size_t index)=0
	Apply unit impulse to constraint space.

virtual void	getVelocityChange (double *vel, bool withCfm)=0
	Get velocity change due to the uint impulse.

virtual void	excite ()=0
	Excite the constraint.

virtual void	unexcite ()=0
	Unexcite the constraint.

virtual void	applyImpulse (double *lambda)=0
	Apply computed constraint impulse to constrained skeletons.

virtual bool	isActive () const =0
	Return true if this constraint is active.

virtual dynamics::SkeletonPtr	getRootSkeleton () const =0

virtual void	uniteSkeletons ()

Static Public Member Functions
static void	setErrorAllowance (double _allowance)
	Set global error reduction parameter.

static double	getErrorAllowance ()
	Get global error reduction parameter.

static void	setErrorReductionParameter (double _erp)
	Set global error reduction parameter.

static double	getErrorReductionParameter ()
	Get global error reduction parameter.

static void	setMaxErrorReductionVelocity (double _erv)
	Set global error reduction parameter.

static double	getMaxErrorReductionVelocity ()
	Get global error reduction parameter.

static void	setConstraintForceMixing (double _cfm)
	Set global constraint force mixing parameter.

static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter.

static dynamics::SkeletonPtr	getRootSkeleton (dynamics::SkeletonPtr skeleton)

static dynamics::SkeletonPtr	compressPath (dynamics::SkeletonPtr skeleton)

Protected Attributes
dynamics::BodyNode *	mBodyNode1
	First body node.

dynamics::BodyNode *	mBodyNode2
	Second body node.

std::size_t	mDim
	Dimension of constraint.

Static Protected Attributes
static double	mErrorAllowance = 0.0
	Global constraint error allowance.

static double	mErrorReductionParameter = 0.01
	Global constraint error redection parameter in the range of [0, 1].

static double	mMaxErrorReductionVelocity = 1e+1
	Maximum error reduction velocity.

static double	mConstraintForceMixing = 1e-9
	Global constraint force mixing parameter in the range of [1e-9, 1].

Detailed Description

class JointConstraint

Constructor & Destructor Documentation

◆ JointConstraint() [1/2]

dart::constraint::JointConstraint::JointConstraint ( dynamics::BodyNode * _body )

explicit

Contructor.

◆ JointConstraint() [2/2]

dart::constraint::JointConstraint::JointConstraint	(	dynamics::BodyNode *	_body1,
		dynamics::BodyNode *	_body2
	)

Contructor.

◆ ~JointConstraint()

dart::constraint::JointConstraint::~JointConstraint ( )

virtual

Destructor.

Member Function Documentation

◆ applyImpulse()

virtual void dart::constraint::ConstraintBase::applyImpulse ( double * lambda )

pure virtualinherited

Apply computed constraint impulse to constrained skeletons.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::SoftContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, and dart::constraint::ServoMotorConstraint.

◆ applyUnitImpulse()

virtual void dart::constraint::ConstraintBase::applyUnitImpulse ( std::size_t index )

pure virtualinherited

Apply unit impulse to constraint space.

Implemented in dart::constraint::SoftContactConstraint, dart::constraint::BallJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::WeldJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, and dart::constraint::ServoMotorConstraint.

◆ compressPath()

dynamics::SkeletonPtr dart::constraint::ConstraintBase::compressPath ( dynamics::SkeletonPtr skeleton )

staticinherited

◆ excite()

virtual void dart::constraint::ConstraintBase::excite ( )

pure virtualinherited

Excite the constraint.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ getBodyNode1()

dynamics::BodyNode * dart::constraint::JointConstraint::getBodyNode1 ( ) const

Get the first BodyNode that this constraint is associated with.

◆ getBodyNode2()

dynamics::BodyNode * dart::constraint::JointConstraint::getBodyNode2 ( ) const

Get the second BodyNode that this constraint is associated with.

◆ getConstraintForceMixing()

double dart::constraint::JointConstraint::getConstraintForceMixing ( )

static

Get global constraint force mixing parameter.

◆ getDimension()

std::size_t dart::constraint::ConstraintBase::getDimension ( ) const

inherited

Return dimesion of this constranit.

◆ getErrorAllowance()

double dart::constraint::JointConstraint::getErrorAllowance ( )

static

Get global error reduction parameter.

◆ getErrorReductionParameter()

double dart::constraint::JointConstraint::getErrorReductionParameter ( )

static

Get global error reduction parameter.

◆ getInformation()

virtual void dart::constraint::ConstraintBase::getInformation ( ConstraintInfo * info )

pure virtualinherited

Fill LCP variables.

Implemented in dart::constraint::SoftContactConstraint, dart::constraint::BallJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::WeldJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, and dart::constraint::ServoMotorConstraint.

◆ getMaxErrorReductionVelocity()

double dart::constraint::JointConstraint::getMaxErrorReductionVelocity ( )

static

Get global error reduction parameter.

◆ getRootSkeleton() [1/2]

virtual dynamics::SkeletonPtr dart::constraint::ConstraintBase::getRootSkeleton ( ) const

pure virtualinherited

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ getRootSkeleton() [2/2]

dynamics::SkeletonPtr dart::constraint::ConstraintBase::getRootSkeleton ( dynamics::SkeletonPtr skeleton )

staticinherited

◆ getType()

const std::string & dart::constraint::ConstraintBase::getType ( ) const

virtualinherited

Returns a string representing the constraint type.

Reimplemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ getVelocityChange()

virtual void dart::constraint::ConstraintBase::getVelocityChange	(	double *	vel,
		bool	withCfm
	)

pure virtualinherited

Get velocity change due to the uint impulse.

Implemented in dart::constraint::JointCoulombFrictionConstraint, dart::constraint::BallJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, and dart::constraint::ContactConstraint.

◆ isActive()

virtual bool dart::constraint::ConstraintBase::isActive ( ) const

pure virtualinherited

Return true if this constraint is active.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ setConstraintForceMixing()

void dart::constraint::JointConstraint::setConstraintForceMixing ( double _cfm )

static

Set global constraint force mixing parameter.

◆ setErrorAllowance()

void dart::constraint::JointConstraint::setErrorAllowance ( double _allowance )

static

Set global error reduction parameter.

◆ setErrorReductionParameter()

void dart::constraint::JointConstraint::setErrorReductionParameter ( double _erp )

static

Set global error reduction parameter.

◆ setMaxErrorReductionVelocity()

void dart::constraint::JointConstraint::setMaxErrorReductionVelocity ( double _erv )

static

Set global error reduction parameter.

◆ unexcite()

virtual void dart::constraint::ConstraintBase::unexcite ( )

pure virtualinherited

Unexcite the constraint.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ uniteSkeletons()

void dart::constraint::ConstraintBase::uniteSkeletons ( )

virtualinherited

Reimplemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ update()

virtual void dart::constraint::ConstraintBase::update ( )

pure virtualinherited

Update constraint using updated Skeleton's states.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

Member Data Documentation

◆ mBodyNode1

dynamics::BodyNode* dart::constraint::JointConstraint::mBodyNode1

protected

First body node.

◆ mBodyNode2

dynamics::BodyNode* dart::constraint::JointConstraint::mBodyNode2

protected

Second body node.

◆ mConstraintForceMixing

double dart::constraint::JointConstraint::mConstraintForceMixing = 1e-9

staticprotected

Global constraint force mixing parameter in the range of [1e-9, 1].

The default is 1e-5

See also: http://www.ode.org/ode-latest-userguide.html#sec_3_8_0

◆ mDim

std::size_t dart::constraint::ConstraintBase::mDim

protectedinherited

Dimension of constraint.

◆ mErrorAllowance

double dart::constraint::JointConstraint::mErrorAllowance = 0.0

staticprotected

Global constraint error allowance.

◆ mErrorReductionParameter

double dart::constraint::JointConstraint::mErrorReductionParameter = 0.01

staticprotected

Global constraint error redection parameter in the range of [0, 1].

The default is 0.01.

◆ mMaxErrorReductionVelocity

double dart::constraint::JointConstraint::mMaxErrorReductionVelocity = 1e+1

staticprotected

Maximum error reduction velocity.

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JointConstraint() [1/2]

◆ JointConstraint() [2/2]

◆ ~JointConstraint()

Member Function Documentation

◆ applyImpulse()

◆ applyUnitImpulse()

◆ compressPath()

◆ excite()

◆ getBodyNode1()

◆ getBodyNode2()

◆ getConstraintForceMixing()

◆ getDimension()

◆ getErrorAllowance()

◆ getErrorReductionParameter()

◆ getInformation()

◆ getMaxErrorReductionVelocity()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

◆ getType()

◆ getVelocityChange()

◆ isActive()

◆ setConstraintForceMixing()

◆ setErrorAllowance()

◆ setErrorReductionParameter()

◆ setMaxErrorReductionVelocity()

◆ unexcite()

◆ uniteSkeletons()

◆ update()

Member Data Documentation

◆ mBodyNode1

◆ mBodyNode2

◆ mConstraintForceMixing

◆ mDim

◆ mErrorAllowance

◆ mErrorReductionParameter

◆ mMaxErrorReductionVelocity