DART  6.10.1
dart::constraint::ConstraintBase Class Referenceabstract

Constraint is a base class of concrete constraints classes. More...

#include <ConstraintBase.hpp>

Inheritance diagram for dart::constraint::ConstraintBase:
dart::constraint::ContactConstraint dart::constraint::JointConstraint dart::constraint::JointCoulombFrictionConstraint dart::constraint::JointLimitConstraint dart::constraint::MimicMotorConstraint dart::constraint::ServoMotorConstraint dart::constraint::SoftContactConstraint dart::constraint::BallJointConstraint dart::constraint::WeldJointConstraint

Public Member Functions

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 ()
 
virtual ~ConstraintBase ()
 Destructor. More...
 

Static Public Member Functions

static dynamics::SkeletonPtr compressPath (dynamics::SkeletonPtr skeleton)
 
static dynamics::SkeletonPtr getRootSkeleton (dynamics::SkeletonPtr skeleton)
 

Protected Member Functions

 ConstraintBase ()
 Default contructor. More...
 

Protected Attributes

std::size_t mDim
 Dimension of constraint. More...
 

Friends

class ConstraintSolver
 
class ConstrainedGroup
 

Detailed Description

Constraint is a base class of concrete constraints classes.

Constructor & Destructor Documentation

◆ ~ConstraintBase()

dart::constraint::ConstraintBase::~ConstraintBase ( )
virtual

Destructor.

◆ ConstraintBase()

dart::constraint::ConstraintBase::ConstraintBase ( )
protected

Default contructor.

Member Function Documentation

◆ applyImpulse()

◆ applyUnitImpulse()

◆ compressPath()

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

◆ excite()

◆ getDimension()

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

Return dimesion of this constranit.

◆ getInformation()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

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

◆ getType()

◆ getVelocityChange()

◆ isActive()

◆ unexcite()

◆ uniteSkeletons()

◆ update()

Friends And Related Function Documentation

◆ ConstrainedGroup

friend class ConstrainedGroup
friend

◆ ConstraintSolver

friend class ConstraintSolver
friend

Member Data Documentation

◆ mDim

std::size_t dart::constraint::ConstraintBase::mDim
protected

Dimension of constraint.