DART  6.6.2
WeldJointConstraint.hpp
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32 
33 #ifndef DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
34 #define DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
35 
36 #include <Eigen/Dense>
37 
38 #include "dart/math/MathTypes.hpp"
40 
41 namespace dart {
42 namespace constraint {
43 
47 {
48 public:
50  explicit WeldJointConstraint(dynamics::BodyNode* _body);
51 
54 
56  void setRelativeTransform(const Eigen::Isometry3d& _tf);
57 
59  const Eigen::Isometry3d& getRelativeTransform() const;
60 
62  virtual ~WeldJointConstraint();
63 
64 protected:
65  //----------------------------------------------------------------------------
66  // Constraint virtual functions
67  //----------------------------------------------------------------------------
68 
69  // Documentation inherited
70  void update() override;
71 
72  // Documentation inherited
73  void getInformation(ConstraintInfo* _lcp) override;
74 
75  // Documentation inherited
76  void applyUnitImpulse(std::size_t _index) override;
77 
78  // Documentation inherited
79  void getVelocityChange(double* _vel, bool _withCfm) override;
80 
81  // Documentation inherited
82  void excite() override;
83 
84  // Documentation inherited
85  void unexcite() override;
86 
87  // Documentation inherited
88  void applyImpulse(double* _lambda) override;
89 
90  // Documentation inherited
91  bool isActive() const override;
92 
93  // Documentation inherited
94  dynamics::SkeletonPtr getRootSkeleton() const override;
95 
96  // Documentation inherited
97  void uniteSkeletons() override;
98 
99 private:
101  Eigen::Isometry3d mRelativeTransform;
102 
105 
108 
111 
113  double mOldX[6];
114 
116  std::size_t mAppliedImpulseIndex;
117 
118 public:
119  // To get byte-aligned Eigen vectors
120  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
121 };
122 
123 } // namespace constraint
124 } // namespace dart
125 
126 #endif // DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
127 
class JointConstraint
Definition: JointConstraint.hpp:48
WeldJointConstraint represents weld joint constraint between a body and the world or between two bodi...
Definition: WeldJointConstraint.hpp:47
void update() override
Update constraint using updated Skeleton's states.
Definition: WeldJointConstraint.cpp:103
dynamics::SkeletonPtr getRootSkeleton() const override
Definition: WeldJointConstraint.cpp:349
void getVelocityChange(double *_vel, bool _withCfm) override
Get velocity change due to the uint impulse.
Definition: WeldJointConstraint.cpp:267
void applyUnitImpulse(std::size_t _index) override
Apply unit impulse to constraint space.
Definition: WeldJointConstraint.cpp:190
Eigen::Matrix6d mJacobian2
Definition: WeldJointConstraint.hpp:110
void unexcite() override
Unexcite the constraint.
Definition: WeldJointConstraint.cpp:312
void excite() override
Excite the constraint.
Definition: WeldJointConstraint.cpp:299
Eigen::Vector6d mViolation
Definition: WeldJointConstraint.hpp:104
void setRelativeTransform(const Eigen::Isometry3d &_tf)
Set the relative transform that this WeldJointConstraint will enforce.
Definition: WeldJointConstraint.cpp:85
void applyImpulse(double *_lambda) override
Apply computed constraint impulse to constrained skeletons.
Definition: WeldJointConstraint.cpp:325
std::size_t mAppliedImpulseIndex
Index of applied impulse.
Definition: WeldJointConstraint.hpp:116
void getInformation(ConstraintInfo *_lcp) override
Fill LCP variables.
Definition: WeldJointConstraint.cpp:136
virtual ~WeldJointConstraint()
Destructor.
Definition: WeldJointConstraint.cpp:97
Eigen::Isometry3d mRelativeTransform
Definition: WeldJointConstraint.hpp:101
void uniteSkeletons() override
Definition: WeldJointConstraint.cpp:374
WeldJointConstraint(dynamics::BodyNode *_body)
Constructor that takes one body.
Definition: WeldJointConstraint.cpp:44
const Eigen::Matrix6d mJacobian1
Definition: WeldJointConstraint.hpp:107
const Eigen::Isometry3d & getRelativeTransform() const
Get the relative transform that this WeldJointConstraint will enforce.
Definition: WeldJointConstraint.cpp:91
double mOldX[6]
Definition: WeldJointConstraint.hpp:113
bool isActive() const override
Return true if this constraint is active.
Definition: WeldJointConstraint.cpp:408
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
Matrix< double, 6, 1 > Vector6d
Definition: MathTypes.hpp:49
Matrix< double, 6, 6 > Matrix6d
Definition: MathTypes.hpp:50
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
Definition: BulletCollisionDetector.cpp:63
ConstraintInfo.
Definition: ConstraintBase.hpp:50