dart::constraint::JointLimitConstraint Class Reference

JointLimitConstraint handles joint position or velocity limits. More...

#include <JointLimitConstraint.hpp>

Inheritance diagram for dart::constraint::JointLimitConstraint:

Public Member Functions
	JointLimitConstraint (dynamics::Joint *_joint)
	Constructor. More...
virtual	~JointLimitConstraint ()
	Destructor. More...
std::size_t	getDimension () const
	Return dimesion of this constranit. More...
virtual void	uniteSkeletons ()

Static Public Member Functions
static void	setErrorAllowance (double _allowance)
	Set global error reduction parameter. More...
static double	getErrorAllowance ()
	Get global error reduction parameter. More...
static void	setErrorReductionParameter (double _erp)
	Set global error reduction parameter. More...
static double	getErrorReductionParameter ()
	Get global error reduction parameter. More...
static void	setMaxErrorReductionVelocity (double _erv)
	Set global error reduction parameter. More...
static double	getMaxErrorReductionVelocity ()
	Get global error reduction parameter. More...
static void	setConstraintForceMixing (double _cfm)
	Set global constraint force mixing parameter. More...
static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter. More...
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. More...
void	getInformation (ConstraintInfo *_lcp) override
	Fill LCP variables. More...
void	applyUnitImpulse (std::size_t _index) override
	Apply unit impulse to constraint space. More...
void	getVelocityChange (double *_delVel, bool _withCfm) override
	Get velocity change due to the uint impulse. More...
void	excite () override
	Excite the constraint. More...
void	unexcite () override
	Unexcite the constraint. More...
void	applyImpulse (double *_lambda) override
	Apply computed constraint impulse to constrained skeletons. More...
dynamics::SkeletonPtr	getRootSkeleton () const override
bool	isActive () const override
	Return true if this constraint is active. More...

Protected Attributes
std::size_t	mDim
	Dimension of constraint. More...

Private Attributes
dynamics::Joint *	mJoint
dynamics::BodyNode *	mBodyNode
std::size_t	mAppliedImpulseIndex
	Index of applied impulse. More...
std::size_t	mLifeTime [6]
bool	mActive [6]
double	mViolation [6]
double	mNegativeVel [6]
double	mOldX [6]
double	mUpperBound [6]
double	mLowerBound [6]

Static Private Attributes
static double	mErrorAllowance = 0.0
	Global constraint error allowance. More...
static double	mErrorReductionParameter = 0.01
	Global constraint error redection parameter in the range of [0, 1]. More...
static double	mMaxErrorReductionVelocity = 1e+1
	Maximum error reduction velocity. More...
static double	mConstraintForceMixing = 1e-9
	Global constraint force mixing parameter in the range of [1e-9, 1]. More...

Friends
class	ConstraintSolver
class	ConstrainedGroup

Detailed Description

JointLimitConstraint handles joint position or velocity limits.

Constructor & Destructor Documentation

JointLimitConstraint()

dart::constraint::JointLimitConstraint::JointLimitConstraint ( dynamics::Joint *  _joint )

explicit

Constructor.

~JointLimitConstraint()

dart::constraint::JointLimitConstraint::~JointLimitConstraint ( )

virtual

Destructor.

Member Function Documentation

applyImpulse()

void dart::constraint::JointLimitConstraint::applyImpulse ( double *  _lambda )

overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

applyUnitImpulse()

void dart::constraint::JointLimitConstraint::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::JointLimitConstraint::excite ( )

overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

getConstraintForceMixing()

double dart::constraint::JointLimitConstraint::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::JointLimitConstraint::getErrorAllowance ( )

static

Get global error reduction parameter.

getErrorReductionParameter()

double dart::constraint::JointLimitConstraint::getErrorReductionParameter ( )

static

Get global error reduction parameter.

getInformation()

void dart::constraint::JointLimitConstraint::getInformation ( ConstraintInfo *  _info )

overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

getMaxErrorReductionVelocity()

double dart::constraint::JointLimitConstraint::getMaxErrorReductionVelocity ( )

static

Get global error reduction parameter.

getRootSkeleton() [1/2]

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

overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

getRootSkeleton() [2/2]

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

staticinherited

getVelocityChange()

void dart::constraint::JointLimitConstraint::getVelocityChange ( double *  _vel, bool  _withCfm  )

overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

isActive()

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

overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

setConstraintForceMixing()

void dart::constraint::JointLimitConstraint::setConstraintForceMixing ( double  _cfm )

static

Set global constraint force mixing parameter.

setErrorAllowance()

void dart::constraint::JointLimitConstraint::setErrorAllowance ( double  _allowance )

static

Set global error reduction parameter.

setErrorReductionParameter()

void dart::constraint::JointLimitConstraint::setErrorReductionParameter ( double  _erp )

static

Set global error reduction parameter.

setMaxErrorReductionVelocity()

void dart::constraint::JointLimitConstraint::setMaxErrorReductionVelocity ( double  _erv )

static

Set global error reduction parameter.

unexcite()

void dart::constraint::JointLimitConstraint::unexcite ( )

overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

uniteSkeletons()

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

virtualinherited

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

update()

void dart::constraint::JointLimitConstraint::update ( )

overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

Friends And Related Function Documentation

ConstrainedGroup

friend class ConstrainedGroup

friend

ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

mActive

bool dart::constraint::JointLimitConstraint::mActive[6]

private

mAppliedImpulseIndex

std::size_t dart::constraint::JointLimitConstraint::mAppliedImpulseIndex

private

Index of applied impulse.

mBodyNode

dynamics::BodyNode* dart::constraint::JointLimitConstraint::mBodyNode

private

mConstraintForceMixing

double dart::constraint::JointLimitConstraint::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

mDim

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

protectedinherited

Dimension of constraint.

mErrorAllowance

double dart::constraint::JointLimitConstraint::mErrorAllowance = 0.0

staticprivate

Global constraint error allowance.

mErrorReductionParameter

double dart::constraint::JointLimitConstraint::mErrorReductionParameter = 0.01

staticprivate

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

The default is 0.01.

mJoint

dynamics::Joint* dart::constraint::JointLimitConstraint::mJoint

private

mLifeTime

std::size_t dart::constraint::JointLimitConstraint::mLifeTime[6]

private

mLowerBound

double dart::constraint::JointLimitConstraint::mLowerBound[6]

private

mMaxErrorReductionVelocity

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

staticprivate

Maximum error reduction velocity.

mNegativeVel

double dart::constraint::JointLimitConstraint::mNegativeVel[6]

private

mOldX

double dart::constraint::JointLimitConstraint::mOldX[6]

private

mUpperBound

double dart::constraint::JointLimitConstraint::mUpperBound[6]

private

mViolation

double dart::constraint::JointLimitConstraint::mViolation[6]

private