DART
6.10.1
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Constraint is a base class of concrete constraints classes. More...
#include <ConstraintBase.hpp>
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 |
Constraint is a base class of concrete constraints classes.
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virtual |
Destructor.
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protected |
Default contructor.
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pure virtual |
Apply computed constraint impulse to constrained skeletons.
Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::ContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::JointCoulombFrictionConstraint, and dart::constraint::BallJointConstraint.
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pure virtual |
Apply unit impulse to constraint space.
Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::ContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::BallJointConstraint, and dart::constraint::SoftContactConstraint.
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static |
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pure virtual |
Excite the constraint.
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
std::size_t dart::constraint::ConstraintBase::getDimension | ( | ) | const |
Return dimesion of this constranit.
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pure virtual |
Fill LCP variables.
Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::ContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::BallJointConstraint, and dart::constraint::SoftContactConstraint.
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pure virtual |
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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static |
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virtual |
Returns a string representing the constraint type.
Reimplemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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pure virtual |
Get velocity change due to the uint impulse.
Implemented in dart::constraint::ContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::BallJointConstraint, and dart::constraint::JointCoulombFrictionConstraint.
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pure virtual |
Return true if this constraint is active.
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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pure virtual |
Unexcite the constraint.
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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virtual |
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pure virtual |
Update constraint using updated Skeleton's states.
Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.
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friend |
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friend |
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protected |
Dimension of constraint.