JointLimitConstraint.hpp

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#ifndef DART_CONSTRAINT_JOINTLIMITCONSTRAINT_HPP_
#define DART_CONSTRAINT_JOINTLIMITCONSTRAINT_HPP_
 
#include "dart/constraint/ConstraintBase.hpp"
 
namespace dart {
 
namespace dynamics {
class BodyNode;
class Joint;
}  // namespace dynamics
 
namespace constraint {
 
// TOOD: better naming
class JointLimitConstraint : public ConstraintBase
{
public:
  explicit JointLimitConstraint(dynamics::Joint* _joint);
 
  virtual ~JointLimitConstraint();
 
  //----------------------------------------------------------------------------
  // 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();
 
  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------
 
  friend class ConstraintSolver;
  friend class ConstrainedGroup;
 
protected:
  //----------------------------------------------------------------------------
  // Constraint virtual functions
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void update() override;
 
  // Documentation inherited
  void getInformation(ConstraintInfo* _lcp) override;
 
  // Documentation inherited
  void applyUnitImpulse(std::size_t _index) override;
 
  // Documentation inherited
  void getVelocityChange(double* _delVel, bool _withCfm) override;
 
  // Documentation inherited
  void excite() override;
 
  // Documentation inherited
  void unexcite() override;
 
  // Documentation inherited
  void applyImpulse(double* _lambda) override;
 
  // Documentation inherited
  dynamics::SkeletonPtr getRootSkeleton() const override;
 
  // Documentation inherited
  bool isActive() const override;
 
private:
  dynamics::Joint* mJoint;
 
  dynamics::BodyNode* mBodyNode;
 
  std::size_t mAppliedImpulseIndex;
 
  std::size_t mLifeTime[6];
 
  bool mActive[6];
 
  double mViolation[6];
 
  double mNegativeVel[6];
 
  double mOldX[6];
 
  double mUpperBound[6];
 
  double mLowerBound[6];
 
  static double mErrorAllowance;
 
  static double mErrorReductionParameter;
 
  static double mMaxErrorReductionVelocity;
 
  static double mConstraintForceMixing;
};
 
}  // namespace constraint
}  // namespace dart
 
#endif  // DART_CONSTRAINT_JOINTLIMITCONSTRAINT_HPP_