MimicMotorConstraint.hpp

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#ifndef DART_CONSTRAINT_MIMICMOTORCONSTRAINT_HPP_
#define DART_CONSTRAINT_MIMICMOTORCONSTRAINT_HPP_
 
#include "dart/constraint/ConstraintBase.hpp"
 
namespace dart {
 
namespace dynamics {
class BodyNode;
class Joint;
} // namespace dynamics
 
namespace constraint {
 
class MimicMotorConstraint : public ConstraintBase
{
public:
  explicit MimicMotorConstraint(
      dynamics::Joint* joint,
      const dynamics::Joint* mimicJoint,
      double multiplier = 1.0,
      double offset = 0.0);
 
  ~MimicMotorConstraint() override;
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------
 
  static void setConstraintForceMixing(double cfm);
 
  static double getConstraintForceMixing();
 
  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------
 
  friend class ConstraintSolver;
  friend class ConstrainedGroup;
 
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* delVel, bool withCfm) override;
 
  // Documentation inherited
  void excite() override;
 
  // Documentation inherited
  void unexcite() override;
 
  // Documentation inherited
  void applyImpulse(double* lambda) override;
 
  // Documentation inherited
  dynamics::SkeletonPtr getRootSkeleton() const override;
 
  // Documentation inherited
  bool isActive() const override;
 
private:
  dynamics::Joint* mJoint;
 
  const dynamics::Joint* mMimicJoint;
 
  double mMultiplier, mOffset;
 
  dynamics::BodyNode* mBodyNode;
 
  std::size_t mAppliedImpulseIndex;
 
  std::size_t mLifeTime[6];
  // TODO(JS): Lifetime should be considered only when we use iterative lcp
  // solver
 
  bool mActive[6];
 
  double mNegativeVelocityError[6];
 
  double mOldX[6];
 
  double mUpperBound[6];
 
  double mLowerBound[6];
 
  static double mConstraintForceMixing;
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_MIMICMOTORCONSTRAINT_HPP_