DART 6.10.1
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Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes | Static Private Attributes | Friends | List of all members
dart::constraint::JointCoulombFrictionConstraint Class Reference

Joint Coulomb friction constraint. More...

#include <JointCoulombFrictionConstraint.hpp>

Inheritance diagram for dart::constraint::JointCoulombFrictionConstraint:
dart::constraint::ConstraintBase

Public Member Functions

 JointCoulombFrictionConstraint (dynamics::Joint *_joint)
 Constructor.
 
virtual ~JointCoulombFrictionConstraint ()
 Destructor.
 
const std::string & getType () const override
 Returns a string representing the constraint type.
 
std::size_t getDimension () const
 Return dimesion of this constranit.
 
virtual void uniteSkeletons ()
 

Static Public Member Functions

static const std::string & getStaticType ()
 Returns constraint type for this class.
 
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 Member Functions

void update () override
 Update constraint using updated Skeleton's states.
 
void getInformation (ConstraintInfo *_lcp) override
 Fill LCP variables.
 
void applyUnitImpulse (std::size_t _index) override
 Apply unit impulse to constraint space.
 
void getVelocityChange (double *_delVel, bool _withCfm) override
 Get velocity change due to the uint impulse.
 
void excite () override
 Excite the constraint.
 
void unexcite () override
 Unexcite the constraint.
 
void applyImpulse (double *_lambda) override
 Apply computed constraint impulse to constrained skeletons.
 
dynamics::SkeletonPtr getRootSkeleton () const override
 
bool isActive () const override
 Return true if this constraint is active.
 

Protected Attributes

std::size_t mDim
 Dimension of constraint.
 

Private Attributes

dynamics::Joint * mJoint
 
dynamics::BodyNode * mBodyNode
 
std::size_t mAppliedImpulseIndex
 Index of applied impulse.
 
std::size_t mLifeTime [6]
 
bool mActive [6]
 
double mNegativeVel [6]
 
double mOldX [6]
 
double mUpperBound [6]
 
double mLowerBound [6]
 

Static Private Attributes

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

Friends

class ConstraintSolver
 
class ConstrainedGroup
 

Detailed Description

Joint Coulomb friction constraint.

Constructor & Destructor Documentation

◆ JointCoulombFrictionConstraint()

dart::constraint::JointCoulombFrictionConstraint::JointCoulombFrictionConstraint ( dynamics::Joint *  _joint)
explicit

Constructor.

◆ ~JointCoulombFrictionConstraint()

dart::constraint::JointCoulombFrictionConstraint::~JointCoulombFrictionConstraint ( )
virtual

Destructor.

Member Function Documentation

◆ applyImpulse()

void dart::constraint::JointCoulombFrictionConstraint::applyImpulse ( double *  lambda)
overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

◆ applyUnitImpulse()

void dart::constraint::JointCoulombFrictionConstraint::applyUnitImpulse ( std::size_t  index)
overrideprotectedvirtual

Apply unit impulse to constraint space.

Implements dart::constraint::ConstraintBase.

◆ compressPath()

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

◆ excite()

void dart::constraint::JointCoulombFrictionConstraint::excite ( )
overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

◆ getConstraintForceMixing()

double dart::constraint::JointCoulombFrictionConstraint::getConstraintForceMixing ( )
static

Get global constraint force mixing parameter.

◆ getDimension()

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

Return dimesion of this constranit.

◆ getInformation()

void dart::constraint::JointCoulombFrictionConstraint::getInformation ( ConstraintInfo *  info)
overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

◆ getRootSkeleton() [1/2]

dynamics::SkeletonPtr dart::constraint::JointCoulombFrictionConstraint::getRootSkeleton ( ) const
overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

◆ getRootSkeleton() [2/2]

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

◆ getStaticType()

const std::string & dart::constraint::JointCoulombFrictionConstraint::getStaticType ( )
static

Returns constraint type for this class.

◆ getType()

const std::string & dart::constraint::JointCoulombFrictionConstraint::getType ( ) const
overridevirtual

Returns a string representing the constraint type.

Reimplemented from dart::constraint::ConstraintBase.

◆ getVelocityChange()

void dart::constraint::JointCoulombFrictionConstraint::getVelocityChange ( double *  vel,
bool  withCfm 
)
overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

◆ isActive()

bool dart::constraint::JointCoulombFrictionConstraint::isActive ( ) const
overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

◆ setConstraintForceMixing()

void dart::constraint::JointCoulombFrictionConstraint::setConstraintForceMixing ( double  _cfm)
static

Set global constraint force mixing parameter.

◆ unexcite()

void dart::constraint::JointCoulombFrictionConstraint::unexcite ( )
overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

◆ uniteSkeletons()

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

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

◆ update()

void dart::constraint::JointCoulombFrictionConstraint::update ( )
overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

Friends And Related Symbol Documentation

◆ ConstrainedGroup

friend class ConstrainedGroup
friend

◆ ConstraintSolver

friend class ConstraintSolver
friend

Member Data Documentation

◆ mActive

bool dart::constraint::JointCoulombFrictionConstraint::mActive[6]
private

◆ mAppliedImpulseIndex

std::size_t dart::constraint::JointCoulombFrictionConstraint::mAppliedImpulseIndex
private

Index of applied impulse.

◆ mBodyNode

dynamics::BodyNode* dart::constraint::JointCoulombFrictionConstraint::mBodyNode
private

◆ mConstraintForceMixing

double dart::constraint::JointCoulombFrictionConstraint::mConstraintForceMixing = 1e-9
staticprivate

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.

◆ mJoint

dynamics::Joint* dart::constraint::JointCoulombFrictionConstraint::mJoint
private

◆ mLifeTime

std::size_t dart::constraint::JointCoulombFrictionConstraint::mLifeTime[6]
private

◆ mLowerBound

double dart::constraint::JointCoulombFrictionConstraint::mLowerBound[6]
private

◆ mNegativeVel

double dart::constraint::JointCoulombFrictionConstraint::mNegativeVel[6]
private

◆ mOldX

double dart::constraint::JointCoulombFrictionConstraint::mOldX[6]
private

◆ mUpperBound

double dart::constraint::JointCoulombFrictionConstraint::mUpperBound[6]
private