JointConstraint.hpp

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#ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
#define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
 
#include <Eigen/Dense>
 
#include "dart/constraint/ConstraintBase.hpp"
 
namespace dart {
 
namespace dynamics {
class BodyNode;
class Joint;
} // namespace dynamics
 
namespace constraint {
 
// TODO(JS): Merge JointCoulombFrictionConstraint into this class
 
class JointConstraint : public ConstraintBase
{
public:
  explicit JointConstraint(dynamics::Joint* joint);
 
  ~JointConstraint() override = default;
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------
 
  static void setErrorAllowance(double allowance);
 
  static double getErrorAllowance();
 
  static void setErrorReductionParameter(double erp);
 
  static double getErrorReductionParameter();
 
  static void setMaxErrorReductionVelocity(double erv);
 
  static double getMaxErrorReductionVelocity();
 
  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;
 
  dynamics::BodyNode* mBodyNode;
 
  std::size_t mAppliedImpulseIndex;
 
  Eigen::Matrix<std::size_t, 6, 1> mLifeTime;
 
  Eigen::Matrix<bool, 6, 1> mActive;
 
  Eigen::Matrix<double, 6, 1> mDesiredVelocityChange;
 
  Eigen::Matrix<double, 6, 1> mOldX;
 
  Eigen::Matrix<double, 6, 1> mImpulseUpperBound;
 
  Eigen::Matrix<double, 6, 1> mImpulseLowerBound;
 
  static double mErrorAllowance;
 
  static double mErrorReductionParameter;
 
  static double mMaxErrorReductionVelocity;
 
  static double mConstraintForceMixing;
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_JOINTCONSTRAINT_HPP_