BallJointConstraint represents ball joint constraint between a body and the world or between two bodies. More...

#include <BallJointConstraint.hpp>

Inheritance diagram for dart::constraint::BallJointConstraint:

Public Member Functions
	BallJointConstraint (dynamics::BodyNode *_body, const Eigen::Vector3d &_jointPos)
	Constructor that takes one body and the joint position in the world frame. More...

	BallJointConstraint (dynamics::BodyNode _body1, dynamics::BodyNode _body2, const Eigen::Vector3d &_jointPos)
	Constructor that takes two bodies and the joint position in the frame of _body1. More...

virtual	~BallJointConstraint ()
	Destructor. More...

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

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

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

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 *_vel, 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...

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

dynamics::SkeletonPtr	getRootSkeleton () const override

void	uniteSkeletons () override

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

dynamics::BodyNode *	mBodyNode2
	Second body node. More...

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

Static Protected 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...

Private Attributes
Eigen::Vector3d	mOffset1
	Offset from the origin of body frame 1 to the ball joint position where the offset is expressed in body frame 1. More...

Eigen::Vector3d	mOffset2
	Offset from the origin of body frame 2 to the ball joint position where the offset is expressed in body frame 2. More...

Eigen::Vector3d	mViolation
	Position constraint violation expressed in body frame 1. More...

Eigen::Matrix< double, 3, 6 >	mJacobian1
	Linear map between constraint space and Cartesian space for body1. More...

Eigen::Matrix< double, 3, 6 >	mJacobian2
	Linear map between constraint space and Cartesian space for body2. More...

double	mOldX [3]

std::size_t	mAppliedImpulseIndex
	Index of applied impulse. More...

Detailed Description

BallJointConstraint represents ball joint constraint between a body and the world or between two bodies.

Constructor & Destructor Documentation

◆ BallJointConstraint() [1/2]

dart::constraint::BallJointConstraint::BallJointConstraint	(	dynamics::BodyNode *	_body,
		const Eigen::Vector3d &	_jointPos
	)

Constructor that takes one body and the joint position in the world frame.

Parameters

[in] _jointPos Joint position expressed in world frame

◆ BallJointConstraint() [2/2]

dart::constraint::BallJointConstraint::BallJointConstraint	(	dynamics::BodyNode *	_body1,
		dynamics::BodyNode *	_body2,
		const Eigen::Vector3d &	_jointPos
	)

Constructor that takes two bodies and the joint position in the frame of _body1.

Parameters

[in] _jointPos Joint position expressed in world frame

◆ ~BallJointConstraint()

dart::constraint::BallJointConstraint::~BallJointConstraint ( )

virtual

Destructor.

Member Function Documentation

◆ applyImpulse()

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

overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

◆ applyUnitImpulse()

void dart::constraint::BallJointConstraint::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::BallJointConstraint::excite ( )

overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

◆ getBodyNode1()

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

inherited

Get the first BodyNode that this constraint is associated with.

◆ getBodyNode2()

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

inherited

Get the second BodyNode that this constraint is associated with.

◆ getConstraintForceMixing()

double dart::constraint::JointConstraint::getConstraintForceMixing ( )

staticinherited

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 ( )

staticinherited

Get global error reduction parameter.

◆ getErrorReductionParameter()

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

staticinherited

Get global error reduction parameter.

◆ getInformation()

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

overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

◆ getMaxErrorReductionVelocity()

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

staticinherited

Get global error reduction parameter.

◆ getRootSkeleton() [1/2]

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

overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

◆ getRootSkeleton() [2/2]

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

staticinherited

◆ getVelocityChange()

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

overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

◆ isActive()

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

overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

◆ setConstraintForceMixing()

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

staticinherited

Set global constraint force mixing parameter.

◆ setErrorAllowance()

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

staticinherited

Set global error reduction parameter.

◆ setErrorReductionParameter()

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

staticinherited

Set global error reduction parameter.

◆ setMaxErrorReductionVelocity()

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

staticinherited

Set global error reduction parameter.

◆ unexcite()

void dart::constraint::BallJointConstraint::unexcite ( )

overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

◆ uniteSkeletons()

void dart::constraint::BallJointConstraint::uniteSkeletons ( )

overrideprotectedvirtual

Reimplemented from dart::constraint::ConstraintBase.

◆ update()

void dart::constraint::BallJointConstraint::update ( )

overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

Member Data Documentation

◆ mAppliedImpulseIndex

std::size_t dart::constraint::BallJointConstraint::mAppliedImpulseIndex

private

Index of applied impulse.

◆ mBodyNode1

dynamics::BodyNode* dart::constraint::JointConstraint::mBodyNode1

protectedinherited

First body node.

◆ mBodyNode2

dynamics::BodyNode* dart::constraint::JointConstraint::mBodyNode2

protectedinherited

Second body node.

◆ mConstraintForceMixing

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

staticprotectedinherited

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::JointConstraint::mErrorAllowance = 0.0

staticprotectedinherited

Global constraint error allowance.

◆ mErrorReductionParameter

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

staticprotectedinherited

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

The default is 0.01.

◆ mJacobian1

Eigen::Matrix<double, 3, 6> dart::constraint::BallJointConstraint::mJacobian1

private

Linear map between constraint space and Cartesian space for body1.

◆ mJacobian2

Eigen::Matrix<double, 3, 6> dart::constraint::BallJointConstraint::mJacobian2

private

Linear map between constraint space and Cartesian space for body2.

◆ mMaxErrorReductionVelocity

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

staticprotectedinherited

Maximum error reduction velocity.

◆ mOffset1

Eigen::Vector3d dart::constraint::BallJointConstraint::mOffset1

private

Offset from the origin of body frame 1 to the ball joint position where the offset is expressed in body frame 1.

◆ mOffset2

Eigen::Vector3d dart::constraint::BallJointConstraint::mOffset2

private

Offset from the origin of body frame 2 to the ball joint position where the offset is expressed in body frame 2.

◆ mOldX

double dart::constraint::BallJointConstraint::mOldX[3]

private

◆ mViolation

Eigen::Vector3d dart::constraint::BallJointConstraint::mViolation

private

Position constraint violation expressed in body frame 1.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BallJointConstraint() [1/2]

◆ BallJointConstraint() [2/2]

◆ ~BallJointConstraint()

Member Function Documentation

◆ applyImpulse()

◆ applyUnitImpulse()

◆ compressPath()

◆ excite()

◆ getBodyNode1()

◆ getBodyNode2()

◆ getConstraintForceMixing()

◆ getDimension()

◆ getErrorAllowance()

◆ getErrorReductionParameter()

◆ getInformation()

◆ getMaxErrorReductionVelocity()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

◆ getVelocityChange()

◆ isActive()

◆ setConstraintForceMixing()

◆ setErrorAllowance()

◆ setErrorReductionParameter()

◆ setMaxErrorReductionVelocity()

◆ unexcite()

◆ uniteSkeletons()

◆ update()

Member Data Documentation

◆ mAppliedImpulseIndex

◆ mBodyNode1

◆ mBodyNode2

◆ mConstraintForceMixing

◆ mDim

◆ mErrorAllowance

◆ mErrorReductionParameter

◆ mJacobian1

◆ mJacobian2

◆ mMaxErrorReductionVelocity

◆ mOffset1

◆ mOffset2

◆ mOldX

◆ mViolation