DART  6.10.1
ConstrainedGroup.hpp
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32 
33 #ifndef DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
34 #define DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
35 
36 #include <memory>
37 #include <vector>
38 #include <Eigen/Dense>
39 
41 
42 namespace dart {
43 
44 namespace dynamics {
45 class Skeleton;
46 } // namespace dynamics
47 
48 namespace constraint {
49 
50 struct ConstraintInfo;
51 class ConstraintBase;
52 class ConstraintSolver;
53 
58 {
59 public:
60  //----------------------------------------------------------------------------
61  // Constructor / Desctructor
62  //----------------------------------------------------------------------------
63 
66 
68  virtual ~ConstrainedGroup();
69 
70  //----------------------------------------------------------------------------
71  // Setting
72  //----------------------------------------------------------------------------
73 
75  void addConstraint(const ConstraintBasePtr& _constraint);
76 
78  std::size_t getNumConstraints() const;
79 
81  ConstraintBasePtr getConstraint(std::size_t _index);
82 
84  ConstConstraintBasePtr getConstraint(std::size_t _index) const;
85 
87  void removeConstraint(const ConstraintBasePtr& _constraint);
88 
90  void removeAllConstraints();
91 
93  std::size_t getTotalDimension() const;
94 
95  //----------------------------------------------------------------------------
96  // Friendship
97  //----------------------------------------------------------------------------
98 
99  friend class ConstraintSolver;
100 
101 private:
102 #ifndef NDEBUG
104  bool containConstraint(const ConstConstraintBasePtr& _constraint) const;
105 #endif
106 
108  std::vector<ConstraintBasePtr> mConstraints;
109 
111  std::shared_ptr<dynamics::Skeleton> mRootSkeleton;
112 };
113 
114 } // namespace constraint
115 } // namespace dart
116 
117 #endif // DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
ConstrainedGroup is a group of skeletons that interact each other with constraints.
Definition: ConstrainedGroup.hpp:58
void removeAllConstraints()
Remove all constraints.
Definition: ConstrainedGroup.cpp:102
void addConstraint(const ConstraintBasePtr &_constraint)
Add constraint.
Definition: ConstrainedGroup.cpp:57
virtual ~ConstrainedGroup()
Destructor.
Definition: ConstrainedGroup.cpp:52
std::size_t getTotalDimension() const
Get total dimension of contraints in this group.
Definition: ConstrainedGroup.cpp:118
void removeConstraint(const ConstraintBasePtr &_constraint)
Remove constraint.
Definition: ConstrainedGroup.cpp:89
ConstrainedGroup()
Default contructor.
Definition: ConstrainedGroup.cpp:47
std::shared_ptr< dynamics::Skeleton > mRootSkeleton
Definition: ConstrainedGroup.hpp:111
std::vector< ConstraintBasePtr > mConstraints
List of constraints.
Definition: ConstrainedGroup.hpp:108
ConstraintBasePtr getConstraint(std::size_t _index)
Return a constraint.
Definition: ConstrainedGroup.cpp:75
std::size_t getNumConstraints() const
Return number of constraints in this constrained group.
Definition: ConstrainedGroup.cpp:69
bool containConstraint(const ConstConstraintBasePtr &_constraint) const
Return true if _constraint is contained.
Definition: ConstrainedGroup.cpp:109
ConstraintSolver manages constraints and computes constraint impulses.
Definition: ConstraintSolver.hpp:57
std::shared_ptr< const ConstraintBase > ConstConstraintBasePtr
Definition: SmartPointer.hpp:45
std::shared_ptr< ConstraintBase > ConstraintBasePtr
Definition: SmartPointer.hpp:45
Definition: BulletCollisionDetector.cpp:65