Base class for joint constraints that are being created or destructed during simulation. More...

#include <DynamicJointConstraint.hpp>

Inheritance diagram for dart::constraint::DynamicJointConstraint:

Public Member Functions
	DynamicJointConstraint (dynamics::BodyNode *body)
	Contructor.

	DynamicJointConstraint (dynamics::BodyNode body1, dynamics::BodyNode body2)
	Contructor.

	~DynamicJointConstraint () override
	Destructor.

dynamics::BodyNode *	getBodyNode1 () const
	Get the first BodyNode that this constraint is associated with.

dynamics::BodyNode *	getBodyNode2 () const
	Get the second BodyNode that this constraint is associated with.

virtual const std::string &	getType () const
	Returns a string representing the constraint type.

std::size_t	getDimension () const
	Return dimesion of this constranit.

virtual void	update ()=0
	Update constraint using updated Skeleton's states.

virtual void	getInformation (ConstraintInfo *info)=0
	Fill LCP variables.

virtual void	applyUnitImpulse (std::size_t index)=0
	Apply unit impulse to constraint space.

virtual void	getVelocityChange (double *vel, bool withCfm)=0
	Get velocity change due to the uint impulse.

virtual void	excite ()=0
	Excite the constraint.

virtual void	unexcite ()=0
	Unexcite the constraint.

virtual void	applyImpulse (double *lambda)=0
	Apply computed constraint impulse to constrained skeletons.

virtual bool	isActive () const =0
	Return true if this constraint is active.

virtual dynamics::SkeletonPtr	getRootSkeleton () const =0

virtual void	uniteSkeletons ()

Static Public Member Functions
static void	setErrorAllowance (double allowance)
	Set global error reduction parameter.

static double	getErrorAllowance ()
	Get global error reduction parameter.

static void	setErrorReductionParameter (double erp)
	Set global error reduction parameter.

static double	getErrorReductionParameter ()
	Get global error reduction parameter.

static void	setMaxErrorReductionVelocity (double erv)
	Set global error reduction parameter.

static double	getMaxErrorReductionVelocity ()
	Get global error reduction parameter.

static void	setConstraintForceMixing (double cfm)
	Set global constraint force mixing parameter.

static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter.

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

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

Protected Attributes
dynamics::BodyNode *	mBodyNode1
	First body node.

dynamics::BodyNode *	mBodyNode2
	Second body node.

std::size_t	mDim
	Dimension of constraint.

Static Protected Attributes
static double	mErrorAllowance = 0.0
	Global constraint error allowance.

static double	mErrorReductionParameter = 0.01
	Global constraint error redection parameter in the range of [0, 1].

static double	mMaxErrorReductionVelocity = 1e+1
	Maximum error reduction velocity.

static double	mConstraintForceMixing = 1e-9
	Global constraint force mixing parameter in the range of [1e-9, 1].

Detailed Description

Base class for joint constraints that are being created or destructed during simulation.

Constructor & Destructor Documentation

◆ DynamicJointConstraint() [1/2]

dart::constraint::DynamicJointConstraint::DynamicJointConstraint ( dynamics::BodyNode * body )

explicit

Contructor.

◆ DynamicJointConstraint() [2/2]

dart::constraint::DynamicJointConstraint::DynamicJointConstraint	(	dynamics::BodyNode *	body1,
		dynamics::BodyNode *	body2
	)

Contructor.

◆ ~DynamicJointConstraint()

dart::constraint::DynamicJointConstraint::~DynamicJointConstraint ( )

override

Destructor.

Member Function Documentation

◆ applyImpulse()

virtual void dart::constraint::ConstraintBase::applyImpulse ( double * lambda )

pure virtualinherited

Apply computed constraint impulse to constrained skeletons.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::SoftContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, and dart::constraint::ServoMotorConstraint.

◆ applyUnitImpulse()

virtual void dart::constraint::ConstraintBase::applyUnitImpulse ( std::size_t index )

pure virtualinherited

Apply unit impulse to constraint space.

Implemented in dart::constraint::SoftContactConstraint, dart::constraint::BallJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::WeldJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, and dart::constraint::ServoMotorConstraint.

◆ compressPath()

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

staticinherited

◆ excite()

virtual void dart::constraint::ConstraintBase::excite ( )

pure virtualinherited

Excite the constraint.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ getBodyNode1()

dynamics::BodyNode * dart::constraint::DynamicJointConstraint::getBodyNode1 ( ) const

Get the first BodyNode that this constraint is associated with.

◆ getBodyNode2()

dynamics::BodyNode * dart::constraint::DynamicJointConstraint::getBodyNode2 ( ) const

Get the second BodyNode that this constraint is associated with.

◆ getConstraintForceMixing()

double dart::constraint::DynamicJointConstraint::getConstraintForceMixing ( )

static

Get global constraint force mixing parameter.

◆ getDimension()

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

inherited

Return dimesion of this constranit.

◆ getErrorAllowance()

double dart::constraint::DynamicJointConstraint::getErrorAllowance ( )

static

Get global error reduction parameter.

◆ getErrorReductionParameter()

double dart::constraint::DynamicJointConstraint::getErrorReductionParameter ( )

static

Get global error reduction parameter.

◆ getInformation()

virtual void dart::constraint::ConstraintBase::getInformation ( ConstraintInfo * info )

pure virtualinherited

Fill LCP variables.

Implemented in dart::constraint::SoftContactConstraint, dart::constraint::BallJointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::WeldJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, and dart::constraint::ServoMotorConstraint.

◆ getMaxErrorReductionVelocity()

double dart::constraint::DynamicJointConstraint::getMaxErrorReductionVelocity ( )

static

Get global error reduction parameter.

◆ getRootSkeleton() [1/2]

virtual dynamics::SkeletonPtr dart::constraint::ConstraintBase::getRootSkeleton ( ) const

pure virtualinherited

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ getRootSkeleton() [2/2]

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

staticinherited

◆ getType()

const std::string & dart::constraint::ConstraintBase::getType ( ) const

virtualinherited

Returns a string representing the constraint type.

Reimplemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ getVelocityChange()

virtual void dart::constraint::ConstraintBase::getVelocityChange	(	double *	vel,
		bool	withCfm
	)

pure virtualinherited

Get velocity change due to the uint impulse.

Implemented in dart::constraint::JointCoulombFrictionConstraint, dart::constraint::BallJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::WeldJointConstraint, dart::constraint::JointConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, and dart::constraint::ContactConstraint.

◆ isActive()

virtual bool dart::constraint::ConstraintBase::isActive ( ) const

pure virtualinherited

Return true if this constraint is active.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ setConstraintForceMixing()

void dart::constraint::DynamicJointConstraint::setConstraintForceMixing ( double cfm )

static

Set global constraint force mixing parameter.

◆ setErrorAllowance()

void dart::constraint::DynamicJointConstraint::setErrorAllowance ( double allowance )

static

Set global error reduction parameter.

◆ setErrorReductionParameter()

void dart::constraint::DynamicJointConstraint::setErrorReductionParameter ( double erp )

static

Set global error reduction parameter.

◆ setMaxErrorReductionVelocity()

void dart::constraint::DynamicJointConstraint::setMaxErrorReductionVelocity ( double erv )

static

Set global error reduction parameter.

◆ unexcite()

virtual void dart::constraint::ConstraintBase::unexcite ( )

pure virtualinherited

Unexcite the constraint.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ uniteSkeletons()

void dart::constraint::ConstraintBase::uniteSkeletons ( )

virtualinherited

Reimplemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

◆ update()

virtual void dart::constraint::ConstraintBase::update ( )

pure virtualinherited

Update constraint using updated Skeleton's states.

Implemented in dart::constraint::BallJointConstraint, dart::constraint::ContactConstraint, dart::constraint::JointConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::JointLimitConstraint, dart::constraint::MimicMotorConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::WeldJointConstraint.

Member Data Documentation

◆ mBodyNode1

dynamics::BodyNode* dart::constraint::DynamicJointConstraint::mBodyNode1

protected

First body node.

◆ mBodyNode2

dynamics::BodyNode* dart::constraint::DynamicJointConstraint::mBodyNode2

protected

Second body node.

◆ mConstraintForceMixing

double dart::constraint::DynamicJointConstraint::mConstraintForceMixing = 1e-9

staticprotected

Global constraint force mixing parameter in the range of [1e-9, 1].

The default is 1e-5

See also: http://www.ode.org/ode-latest-userguide.html#sec_3_8_0

◆ mDim

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

protectedinherited

Dimension of constraint.

◆ mErrorAllowance

double dart::constraint::DynamicJointConstraint::mErrorAllowance = 0.0

staticprotected

Global constraint error allowance.

◆ mErrorReductionParameter

double dart::constraint::DynamicJointConstraint::mErrorReductionParameter = 0.01

staticprotected

Global constraint error redection parameter in the range of [0, 1].

The default is 0.01.

◆ mMaxErrorReductionVelocity

double dart::constraint::DynamicJointConstraint::mMaxErrorReductionVelocity = 1e+1

staticprotected

Maximum error reduction velocity.

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DynamicJointConstraint() [1/2]

◆ DynamicJointConstraint() [2/2]

◆ ~DynamicJointConstraint()

Member Function Documentation

◆ applyImpulse()

◆ applyUnitImpulse()

◆ compressPath()

◆ excite()

◆ getBodyNode1()

◆ getBodyNode2()

◆ getConstraintForceMixing()

◆ getDimension()

◆ getErrorAllowance()

◆ getErrorReductionParameter()

◆ getInformation()

◆ getMaxErrorReductionVelocity()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

◆ getType()

◆ getVelocityChange()

◆ isActive()

◆ setConstraintForceMixing()

◆ setErrorAllowance()

◆ setErrorReductionParameter()

◆ setMaxErrorReductionVelocity()

◆ unexcite()

◆ uniteSkeletons()

◆ update()

Member Data Documentation

◆ mBodyNode1

◆ mBodyNode2

◆ mConstraintForceMixing

◆ mDim

◆ mErrorAllowance

◆ mErrorReductionParameter

◆ mMaxErrorReductionVelocity