DART 6.12.2
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Public Types | Public Member Functions | Static Public Attributes | Protected Attributes | List of all members
dart::dynamics::DynamicsAspect Class Referencefinal

#include <ShapeFrame.hpp>

Inheritance diagram for dart::dynamics::DynamicsAspect:
dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >

Public Types

using Base = common::AspectWithVersionedProperties< DynamicsAspect, detail::DynamicsAspectProperties, ShapeFrame >
 
using Derived = DerivedT
 
using PropertiesData = PropertiesDataT
 
using CompositeType = CompositeT
 
using Properties = Aspect::MakeProperties< PropertiesData >
 
using AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties >
 

Public Member Functions

 DynamicsAspect (const DynamicsAspect &)=delete
 
 DynamicsAspect (const PropertiesData &properties=PropertiesData())
 
void setFrictionCoeff (const double &value)
 Set both primary and secondary friction coefficients to the same value.
 
double getFrictionCoeff () const
 Get average of primary and secondary friction coefficients.
 
void setPrimaryFrictionCoeff (const double &value)
 
const double & getPrimaryFrictionCoeff () const
 
void setSecondaryFrictionCoeff (const double &value)
 
const double & getSecondaryFrictionCoeff () const
 
void setRestitutionCoeff (const double &value)
 
const double & getRestitutionCoeff () const
 
void setPrimarySlipCompliance (const double &value)
 Slip compliance parameters act as constraint force mixing (cfm) for the friction constraints.
 
const double & getPrimarySlipCompliance () const
 
void setSecondarySlipCompliance (const double &value)
 
const double & getSecondarySlipCompliance () const
 
void setFirstFrictionDirectionFrame (const Frame *value)
 Set the frame for interpreting the first friction direction vector.
 
const Frame * getFirstFrictionDirectionFrame () const
 Get the frame for the first friction direction vector.
 
void setFirstFrictionDirection (const Eigen::Vector3d &value)
 
const Eigen::Vector3d & getFirstFrictionDirection () const
 
void setAspectProperties (const Aspect::Properties &someProperties) override final
 
const Aspect::Properties * getAspectProperties () const override final
 
void setProperties (const PropertiesData &properties)
 Set the Properties of this Aspect.
 
const Properties & getProperties () const
 Get the Properties of this Aspect.
 
std::unique_ptr< Aspect > cloneAspect () const override
 
std::size_t incrementVersion ()
 Increment the version of this Aspect and its Composite.
 
void notifyPropertiesUpdate ()
 Call UpdateProperties(this) and incrementVersion()
 
void notifyPropertiesUpdated ()
 Call UpdateProperties(this) and incrementVersion()
 

Static Public Attributes

static constexpr void(* UpdateProperties )(Derived *) = updateProperties
 

Protected Attributes

Properties mProperties
 Properties of this Aspect.
 

Member Typedef Documentation

◆ AspectImplementation

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties>
inherited

◆ Base

using dart::dynamics::DynamicsAspect::Base = common::AspectWithVersionedProperties< DynamicsAspect, detail::DynamicsAspectProperties, ShapeFrame>

◆ CompositeType

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::CompositeType = CompositeT
inherited

◆ Derived

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::Derived = DerivedT
inherited

◆ Properties

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::Properties = Aspect::MakeProperties<PropertiesData>
inherited

◆ PropertiesData

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
using dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::PropertiesData = PropertiesDataT
inherited

Constructor & Destructor Documentation

◆ DynamicsAspect() [1/2]

dart::dynamics::DynamicsAspect::DynamicsAspect ( const DynamicsAspect &  )
delete

◆ DynamicsAspect() [2/2]

dart::dynamics::DynamicsAspect::DynamicsAspect ( const PropertiesData &  properties = PropertiesData())

Member Function Documentation

◆ cloneAspect()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
std::unique_ptr< Aspect > dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::cloneAspect ( ) const
overrideinherited

◆ getAspectProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
const Aspect::Properties * dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::getAspectProperties ( ) const
finaloverrideinherited

◆ getFirstFrictionDirection()

const Eigen::Vector3d & dart::dynamics::DynamicsAspect::getFirstFrictionDirection ( ) const
inline

◆ getFirstFrictionDirectionFrame()

const Frame * dart::dynamics::DynamicsAspect::getFirstFrictionDirectionFrame ( ) const

Get the frame for the first friction direction vector.

◆ getFrictionCoeff()

double dart::dynamics::DynamicsAspect::getFrictionCoeff ( ) const

Get average of primary and secondary friction coefficients.

◆ getPrimaryFrictionCoeff()

const double & dart::dynamics::DynamicsAspect::getPrimaryFrictionCoeff ( ) const

◆ getPrimarySlipCompliance()

const double & dart::dynamics::DynamicsAspect::getPrimarySlipCompliance ( ) const
inline

◆ getProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
auto dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::getProperties ( ) const
inherited

Get the Properties of this Aspect.

◆ getRestitutionCoeff()

const double & dart::dynamics::DynamicsAspect::getRestitutionCoeff ( ) const
inline

◆ getSecondaryFrictionCoeff()

const double & dart::dynamics::DynamicsAspect::getSecondaryFrictionCoeff ( ) const
inline

◆ getSecondarySlipCompliance()

const double & dart::dynamics::DynamicsAspect::getSecondarySlipCompliance ( ) const
inline

◆ incrementVersion()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
std::size_t dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::incrementVersion ( )
inherited

Increment the version of this Aspect and its Composite.

◆ notifyPropertiesUpdate()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::notifyPropertiesUpdate ( )
inherited

Call UpdateProperties(this) and incrementVersion()

◆ notifyPropertiesUpdated()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::notifyPropertiesUpdated ( )
inherited

Call UpdateProperties(this) and incrementVersion()

◆ setAspectProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::setAspectProperties ( const Aspect::Properties &  someProperties)
finaloverrideinherited

◆ setFirstFrictionDirection()

void dart::dynamics::DynamicsAspect::setFirstFrictionDirection ( const Eigen::Vector3d &  value)
inline

◆ setFirstFrictionDirectionFrame()

void dart::dynamics::DynamicsAspect::setFirstFrictionDirectionFrame ( const Frame *  value)

Set the frame for interpreting the first friction direction vector.

The frame pointer defaults to nullptr, which is interpreted as this ShapeFrame.

◆ setFrictionCoeff()

void dart::dynamics::DynamicsAspect::setFrictionCoeff ( const double &  value)

Set both primary and secondary friction coefficients to the same value.

◆ setPrimaryFrictionCoeff()

void dart::dynamics::DynamicsAspect::setPrimaryFrictionCoeff ( const double &  value)

◆ setPrimarySlipCompliance()

void dart::dynamics::DynamicsAspect::setPrimarySlipCompliance ( const double &  value)
inline

Slip compliance parameters act as constraint force mixing (cfm) for the friction constraints.

They start with a default value of -1.0 and will be ignored in favor of the global default value unless explicitly set to a positive value.

◆ setProperties()

template<class BaseT , class DerivedT , typename PropertiesData , class CompositeT , void(*)(DerivedT *) updateProperties>
void dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesData, CompositeT, updateProperties >::setProperties ( const PropertiesData &  properties)
inherited

Set the Properties of this Aspect.

◆ setRestitutionCoeff()

void dart::dynamics::DynamicsAspect::setRestitutionCoeff ( const double &  value)
inline

◆ setSecondaryFrictionCoeff()

void dart::dynamics::DynamicsAspect::setSecondaryFrictionCoeff ( const double &  value)
inline

◆ setSecondarySlipCompliance()

void dart::dynamics::DynamicsAspect::setSecondarySlipCompliance ( const double &  value)
inline

Member Data Documentation

◆ mProperties

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
Properties dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::mProperties
protectedinherited

Properties of this Aspect.

◆ UpdateProperties

template<class BaseT , class DerivedT , typename PropertiesDataT , class CompositeT = Composite, void(*)(DerivedT *) updateProperties = &NoOp<DerivedT*>>
constexpr void(* dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties >::UpdateProperties) (Derived *) = updateProperties
staticconstexprinherited