JointConstraint.hpp

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#ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
#define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
 
#include "dart/constraint/ConstraintBase.hpp"
 
namespace dart {
 
namespace dynamics {
class BodyNode;
}  // namespace dynamics
 
namespace constraint {
 
class JointConstraint : public ConstraintBase
{
public:
  explicit JointConstraint(dynamics::BodyNode* _body);
 
  JointConstraint(dynamics::BodyNode* _body1, dynamics::BodyNode* _body2);
 
  virtual ~JointConstraint();
 
  //----------------------------------------------------------------------------
  // 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();
 
  dynamics::BodyNode* getBodyNode1() const;
 
  dynamics::BodyNode* getBodyNode2() const;
 
protected:
  dynamics::BodyNode* mBodyNode1;
 
  dynamics::BodyNode* mBodyNode2;
 
  static double mErrorAllowance;
 
  static double mErrorReductionParameter;
 
  static double mMaxErrorReductionVelocity;
 
  static double mConstraintForceMixing;
};
 
} // namespace constraint
} // namespace dart
 
#endif  // DART_CONSTRAINT_CONSTRAINT_HPP_