BallJointConstraint.hpp

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#ifndef DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
#define DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
 
#include <Eigen/Dense>
 
#include "dart/constraint/JointConstraint.hpp"
#include "dart/math/MathTypes.hpp"
 
namespace dart {
namespace constraint {
 
class BallJointConstraint : public JointConstraint
{
public:
  BallJointConstraint(
      dynamics::BodyNode* _body, const Eigen::Vector3d& _jointPos);
 
  BallJointConstraint(
      dynamics::BodyNode* _body1,
      dynamics::BodyNode* _body2,
      const Eigen::Vector3d& _jointPos);
 
  virtual ~BallJointConstraint();
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
protected:
  //----------------------------------------------------------------------------
  // Constraint virtual functions
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void update() override;
 
  // Documentation inherited
  void getInformation(ConstraintInfo* _lcp) override;
 
  // Documentation inherited
  void applyUnitImpulse(std::size_t _index) override;
 
  // Documentation inherited
  void getVelocityChange(double* _vel, bool _withCfm) override;
 
  // Documentation inherited
  void excite() override;
 
  // Documentation inherited
  void unexcite() override;
 
  // Documentation inherited
  void applyImpulse(double* _lambda) override;
 
  // Documentation inherited
  bool isActive() const override;
 
  // Documentation inherited
  dynamics::SkeletonPtr getRootSkeleton() const override;
 
  // Documentation inherited
  void uniteSkeletons() override;
 
private:
  Eigen::Vector3d mOffset1;
 
  Eigen::Vector3d mOffset2;
 
  Eigen::Vector3d mViolation;
 
  Eigen::Matrix<double, 3, 6> mJacobian1;
 
  Eigen::Matrix<double, 3, 6> mJacobian2;
 
  double mOldX[3];
 
  std::size_t mAppliedImpulseIndex;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_