dart::constraint::ConstraintBase Class Reference

Constraint is a base class of concrete constraints classes. More...

#include <ConstraintBase.hpp>

Inheritance diagram for dart::constraint::ConstraintBase:

Public Member Functions
std::size_t	getDimension () const
	Return dimesion of this constranit. More...
virtual void	update ()=0
	Update constraint using updated Skeleton's states. More...
virtual void	getInformation (ConstraintInfo *_info)=0
	Fill LCP variables. More...
virtual void	applyUnitImpulse (std::size_t _index)=0
	Apply unit impulse to constraint space. More...
virtual void	getVelocityChange (double *_vel, bool _withCfm)=0
	Get velocity change due to the uint impulse. More...
virtual void	excite ()=0
	Excite the constraint. More...
virtual void	unexcite ()=0
	Unexcite the constraint. More...
virtual void	applyImpulse (double *_lambda)=0
	Apply computed constraint impulse to constrained skeletons. More...
virtual bool	isActive () const =0
	Return true if this constraint is active. More...
virtual dynamics::SkeletonPtr	getRootSkeleton () const =0
virtual void	uniteSkeletons ()

Static Public Member Functions
static dynamics::SkeletonPtr	compressPath (dynamics::SkeletonPtr _skeleton)
static dynamics::SkeletonPtr	getRootSkeleton (dynamics::SkeletonPtr _skeleton)

Protected Member Functions
	ConstraintBase ()
	Default contructor. More...
virtual	~ConstraintBase ()
	Destructor. More...

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

Friends
class	ConstraintSolver
class	ConstrainedGroup

Detailed Description

Constraint is a base class of concrete constraints classes.

Constructor & Destructor Documentation

ConstraintBase()

dart::constraint::ConstraintBase::ConstraintBase ( )

protected

Default contructor.

~ConstraintBase()

dart::constraint::ConstraintBase::~ConstraintBase ( )

protectedvirtual

Destructor.

Member Function Documentation

applyImpulse()

virtual void dart::constraint::ConstraintBase::applyImpulse ( double *  _lambda )

pure virtual

Apply computed constraint impulse to constrained skeletons.

Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.

applyUnitImpulse()

virtual void dart::constraint::ConstraintBase::applyUnitImpulse ( std::size_t  _index )

pure virtual

Apply unit impulse to constraint space.

Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::WeldJointConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::BallJointConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::ContactConstraint.

compressPath()

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

static

excite()

virtual void dart::constraint::ConstraintBase::excite ( )

pure virtual

Excite the constraint.

Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.

getDimension()

std::size_t dart::constraint::ConstraintBase::getDimension

(

)

const

Return dimesion of this constranit.

getInformation()

virtual void dart::constraint::ConstraintBase::getInformation ( ConstraintInfo *  _info )

pure virtual

Fill LCP variables.

Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::WeldJointConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::BallJointConstraint, dart::constraint::SoftContactConstraint, and dart::constraint::ContactConstraint.

getRootSkeleton() [1/2]

virtual dynamics::SkeletonPtr dart::constraint::ConstraintBase::getRootSkeleton ( ) const

pure virtual

Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.

getRootSkeleton() [2/2]

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

static

getVelocityChange()

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

pure virtual

Get velocity change due to the uint impulse.

Implemented in dart::constraint::ServoMotorConstraint, dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ContactConstraint, dart::constraint::BallJointConstraint, dart::constraint::JointLimitConstraint, and dart::constraint::JointCoulombFrictionConstraint.

isActive()

virtual bool dart::constraint::ConstraintBase::isActive ( ) const

pure virtual

Return true if this constraint is active.

Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.

unexcite()

virtual void dart::constraint::ConstraintBase::unexcite ( )

pure virtual

Unexcite the constraint.

Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.

uniteSkeletons()

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

virtual

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

update()

virtual void dart::constraint::ConstraintBase::update ( )

pure virtual

Update constraint using updated Skeleton's states.

Implemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ServoMotorConstraint, dart::constraint::JointLimitConstraint, dart::constraint::JointCoulombFrictionConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.

Friends And Related Function Documentation

ConstrainedGroup

friend class ConstrainedGroup

friend

ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

mDim

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

protected

Dimension of constraint.