JointConstraint handles multiple constraints that are defined in the joint space, such as joint position/velocity limits and servo motor. More...

#include <JointConstraint.hpp>

Inheritance diagram for dart::constraint::JointConstraint:

Public Member Functions
	JointConstraint (dynamics::Joint *joint)
	Constructor.

	~JointConstraint () override=default
	Destructor.

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

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

virtual void	uniteSkeletons ()

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns constraint type for this class.

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 Member Functions
void	update () override
	Update constraint using updated Skeleton's states.

void	getInformation (ConstraintInfo *lcp) override
	Fill LCP variables.

void	applyUnitImpulse (std::size_t index) override
	Apply unit impulse to constraint space.

void	getVelocityChange (double *delVel, bool withCfm) override
	Get velocity change due to the uint impulse.

void	excite () override
	Excite the constraint.

void	unexcite () override
	Unexcite the constraint.

void	applyImpulse (double *lambda) override
	Apply computed constraint impulse to constrained skeletons.

dynamics::SkeletonPtr	getRootSkeleton () const override

bool	isActive () const override
	Return true if this constraint is active.

Protected Attributes
std::size_t	mDim
	Dimension of constraint.

Private Attributes
dynamics::Joint *	mJoint
	The Joint that this constraint is associated with.

dynamics::BodyNode *	mBodyNode
	The child BodyNode of the Joint that this constraint is associated with.

std::size_t	mAppliedImpulseIndex
	Index of applied impulse.

Eigen::Matrix< std::size_t, 6, 1 >	mLifeTime
	Life time of constraint of each DOF.

Eigen::Matrix< bool, 6, 1 >	mActive
	Whether any of the joint contraint is active of each joint.

Eigen::Matrix< double, 6, 1 >	mDesiredVelocityChange
	The desired delta velocity to satisfy the joint limit constraint.

Eigen::Matrix< double, 6, 1 >	mOldX
	Constraint impulse of the previous step.

Eigen::Matrix< double, 6, 1 >	mImpulseUpperBound
	Upper limit of the constraint impulse.

Eigen::Matrix< double, 6, 1 >	mImpulseLowerBound
	Lower limit of the constraint impulse.

Static Private 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].

Friends
class	ConstraintSolver

class	ConstrainedGroup

Detailed Description

JointConstraint handles multiple constraints that are defined in the joint space, such as joint position/velocity limits and servo motor.

Constructor & Destructor Documentation

◆ JointConstraint()

dart::constraint::JointConstraint::JointConstraint ( dynamics::Joint * joint )

explicit

Constructor.

◆ ~JointConstraint()

dart::constraint::JointConstraint::~JointConstraint ( )

overridedefault

Destructor.

Member Function Documentation

◆ applyImpulse()

void dart::constraint::JointConstraint::applyImpulse ( double * lambda )

overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

◆ applyUnitImpulse()

void dart::constraint::JointConstraint::applyUnitImpulse ( std::size_t index )

overrideprotectedvirtual

Apply unit impulse to constraint space.

Implements dart::constraint::ConstraintBase.

◆ compressPath()

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

staticinherited

◆ excite()

void dart::constraint::JointConstraint::excite ( )

overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

◆ getConstraintForceMixing()

double dart::constraint::JointConstraint::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::JointConstraint::getErrorAllowance ( )

static

Get global error reduction parameter.

◆ getErrorReductionParameter()

double dart::constraint::JointConstraint::getErrorReductionParameter ( )

static

Get global error reduction parameter.

◆ getInformation()

void dart::constraint::JointConstraint::getInformation ( ConstraintInfo * info )

overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

◆ getMaxErrorReductionVelocity()

double dart::constraint::JointConstraint::getMaxErrorReductionVelocity ( )

static

Get global error reduction parameter.

◆ getRootSkeleton() [1/2]

dynamics::SkeletonPtr dart::constraint::JointConstraint::getRootSkeleton ( ) const

overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

◆ getRootSkeleton() [2/2]

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

staticinherited

◆ getStaticType()

const std::string & dart::constraint::JointConstraint::getStaticType ( )

static

Returns constraint type for this class.

◆ getType()

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

overridevirtual

Returns a string representing the constraint type.

Reimplemented from dart::constraint::ConstraintBase.

◆ getVelocityChange()

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

overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

◆ isActive()

bool dart::constraint::JointConstraint::isActive ( ) const

overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

◆ setConstraintForceMixing()

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

static

Set global constraint force mixing parameter.

◆ setErrorAllowance()

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

static

Set global error reduction parameter.

◆ setErrorReductionParameter()

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

static

Set global error reduction parameter.

◆ setMaxErrorReductionVelocity()

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

static

Set global error reduction parameter.

◆ unexcite()

void dart::constraint::JointConstraint::unexcite ( )

overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

◆ uniteSkeletons()

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

virtualinherited

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

◆ update()

void dart::constraint::JointConstraint::update ( )

overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

Friends And Related Symbol Documentation

◆ ConstrainedGroup

friend class ConstrainedGroup

friend

◆ ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

◆ mActive

Eigen::Matrix<bool, 6, 1> dart::constraint::JointConstraint::mActive

private

Whether any of the joint contraint is active of each joint.

◆ mAppliedImpulseIndex

std::size_t dart::constraint::JointConstraint::mAppliedImpulseIndex

private

Index of applied impulse.

◆ mBodyNode

dynamics::BodyNode* dart::constraint::JointConstraint::mBodyNode

private

The child BodyNode of the Joint that this constraint is associated with.

◆ mConstraintForceMixing

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

staticprivate

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

◆ mDesiredVelocityChange

Eigen::Matrix<double, 6, 1> dart::constraint::JointConstraint::mDesiredVelocityChange

private

The desired delta velocity to satisfy the joint limit constraint.

◆ mDim

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

protectedinherited

Dimension of constraint.

◆ mErrorAllowance

double dart::constraint::JointConstraint::mErrorAllowance = 0.0

staticprivate

Global constraint error allowance.

◆ mErrorReductionParameter

double dart::constraint::JointConstraint::mErrorReductionParameter = 0.01

staticprivate

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

The default is 0.01.

◆ mImpulseLowerBound

Eigen::Matrix<double, 6, 1> dart::constraint::JointConstraint::mImpulseLowerBound

private

Lower limit of the constraint impulse.

◆ mImpulseUpperBound

Eigen::Matrix<double, 6, 1> dart::constraint::JointConstraint::mImpulseUpperBound

private

Upper limit of the constraint impulse.

◆ mJoint

dynamics::Joint* dart::constraint::JointConstraint::mJoint

private

The Joint that this constraint is associated with.

◆ mLifeTime

Eigen::Matrix<std::size_t, 6, 1> dart::constraint::JointConstraint::mLifeTime

private

Life time of constraint of each DOF.

◆ mMaxErrorReductionVelocity

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

staticprivate

Maximum error reduction velocity.

◆ mOldX

Eigen::Matrix<double, 6, 1> dart::constraint::JointConstraint::mOldX

private

Constraint impulse of the previous step.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Static Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ JointConstraint()

◆ ~JointConstraint()

Member Function Documentation

◆ applyImpulse()

◆ applyUnitImpulse()

◆ compressPath()

◆ excite()

◆ getConstraintForceMixing()

◆ getDimension()

◆ getErrorAllowance()

◆ getErrorReductionParameter()

◆ getInformation()

◆ getMaxErrorReductionVelocity()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

◆ getStaticType()

◆ getType()

◆ getVelocityChange()

◆ isActive()

◆ setConstraintForceMixing()

◆ setErrorAllowance()

◆ setErrorReductionParameter()

◆ setMaxErrorReductionVelocity()

◆ unexcite()

◆ uniteSkeletons()

◆ update()

Friends And Related Symbol Documentation

◆ ConstrainedGroup

◆ ConstraintSolver

Member Data Documentation

◆ mActive

◆ mAppliedImpulseIndex

◆ mBodyNode

◆ mConstraintForceMixing

◆ mDesiredVelocityChange

◆ mDim

◆ mErrorAllowance

◆ mErrorReductionParameter

◆ mImpulseLowerBound

◆ mImpulseUpperBound

◆ mJoint

◆ mLifeTime

◆ mMaxErrorReductionVelocity

◆ mOldX