DART
6.10.1
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class JointConstraint More...
#include <JointConstraint.hpp>
Public Member Functions | |
JointConstraint (dynamics::BodyNode *_body) | |
Contructor. More... | |
JointConstraint (dynamics::BodyNode *_body1, dynamics::BodyNode *_body2) | |
Contructor. More... | |
virtual | ~JointConstraint () |
Destructor. More... | |
dynamics::BodyNode * | getBodyNode1 () const |
Get the first BodyNode that this constraint is associated with. More... | |
dynamics::BodyNode * | getBodyNode2 () const |
Get the second BodyNode that this constraint is associated with. More... | |
virtual const std::string & | getType () const |
Returns a string representing the constraint type. More... | |
std::size_t | getDimension () const |
Return dimesion of this constranit. More... | |
virtual void | update ()=0 |
Update constraint using updated Skeleton's states. More... | |
virtual void | getInformation (ConstraintInfo *info)=0 |
Fill LCP variables. More... | |
virtual void | applyUnitImpulse (std::size_t index)=0 |
Apply unit impulse to constraint space. More... | |
virtual void | getVelocityChange (double *vel, bool withCfm)=0 |
Get velocity change due to the uint impulse. More... | |
virtual void | excite ()=0 |
Excite the constraint. More... | |
virtual void | unexcite ()=0 |
Unexcite the constraint. More... | |
virtual void | applyImpulse (double *lambda)=0 |
Apply computed constraint impulse to constrained skeletons. More... | |
virtual bool | isActive () const =0 |
Return true if this constraint is active. More... | |
virtual dynamics::SkeletonPtr | getRootSkeleton () const =0 |
virtual void | uniteSkeletons () |
Static Public Member Functions | |
static void | setErrorAllowance (double _allowance) |
Set global error reduction parameter. More... | |
static double | getErrorAllowance () |
Get global error reduction parameter. More... | |
static void | setErrorReductionParameter (double _erp) |
Set global error reduction parameter. More... | |
static double | getErrorReductionParameter () |
Get global error reduction parameter. More... | |
static void | setMaxErrorReductionVelocity (double _erv) |
Set global error reduction parameter. More... | |
static double | getMaxErrorReductionVelocity () |
Get global error reduction parameter. More... | |
static void | setConstraintForceMixing (double _cfm) |
Set global constraint force mixing parameter. More... | |
static double | getConstraintForceMixing () |
Get global constraint force mixing parameter. More... | |
static dynamics::SkeletonPtr | getRootSkeleton (dynamics::SkeletonPtr skeleton) |
static dynamics::SkeletonPtr | compressPath (dynamics::SkeletonPtr skeleton) |
Protected Attributes | |
dynamics::BodyNode * | mBodyNode1 |
First body node. More... | |
dynamics::BodyNode * | mBodyNode2 |
Second body node. More... | |
std::size_t | mDim |
Dimension of constraint. More... | |
Static Protected Attributes | |
static double | mErrorAllowance = 0.0 |
Global constraint error allowance. More... | |
static double | mErrorReductionParameter = 0.01 |
Global constraint error redection parameter in the range of [0, 1]. More... | |
static double | mMaxErrorReductionVelocity = 1e+1 |
Maximum error reduction velocity. More... | |
static double | mConstraintForceMixing = 1e-9 |
Global constraint force mixing parameter in the range of [1e-9, 1]. More... | |
class JointConstraint
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explicit |
Contructor.
dart::constraint::JointConstraint::JointConstraint | ( | dynamics::BodyNode * | _body1, |
dynamics::BodyNode * | _body2 | ||
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Contructor.
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virtual |
Destructor.
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pure virtualinherited |
Apply computed constraint impulse to constrained skeletons.
Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::ContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::JointCoulombFrictionConstraint, and dart::constraint::BallJointConstraint.
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pure virtualinherited |
Apply unit impulse to constraint space.
Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::ContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::BallJointConstraint, and dart::constraint::SoftContactConstraint.
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staticinherited |
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pure virtualinherited |
Excite the constraint.
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
dynamics::BodyNode * dart::constraint::JointConstraint::getBodyNode1 | ( | ) | const |
Get the first BodyNode that this constraint is associated with.
dynamics::BodyNode * dart::constraint::JointConstraint::getBodyNode2 | ( | ) | const |
Get the second BodyNode that this constraint is associated with.
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static |
Get global constraint force mixing parameter.
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inherited |
Return dimesion of this constranit.
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static |
Get global error reduction parameter.
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static |
Get global error reduction parameter.
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pure virtualinherited |
Fill LCP variables.
Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::ContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::BallJointConstraint, and dart::constraint::SoftContactConstraint.
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static |
Get global error reduction parameter.
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pure virtualinherited |
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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staticinherited |
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virtualinherited |
Returns a string representing the constraint type.
Reimplemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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pure virtualinherited |
Get velocity change due to the uint impulse.
Implemented in dart::constraint::ContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::BallJointConstraint, and dart::constraint::JointCoulombFrictionConstraint.
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pure virtualinherited |
Return true if this constraint is active.
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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static |
Set global constraint force mixing parameter.
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static |
Set global error reduction parameter.
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static |
Set global error reduction parameter.
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static |
Set global error reduction parameter.
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pure virtualinherited |
Unexcite the constraint.
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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virtualinherited |
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pure virtualinherited |
Update constraint using updated Skeleton's states.
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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protected |
First body node.
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protected |
Second body node.
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staticprotected |
Global constraint force mixing parameter in the range of [1e-9, 1].
The default is 1e-5
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protectedinherited |
Dimension of constraint.
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staticprotected |
Global constraint error allowance.
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staticprotected |
Global constraint error redection parameter in the range of [0, 1].
The default is 0.01.
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staticprotected |
Maximum error reduction velocity.