ConstraintBase.hpp

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#ifndef DART_CONSTRAINT_CONSTRAINTBASE_HPP_
#define DART_CONSTRAINT_CONSTRAINTBASE_HPP_
 
#include <cstddef>
 
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
 
namespace dynamics {
class Skeleton;
}  // namespace dynamics
 
namespace constraint {
 
struct ConstraintInfo
{
  double* x;
 
  double* lo;
 
  double* hi;
 
  double* b;
 
  double* w;
 
  int* findex;
 
  double invTimeStep;
};
 
class ConstraintBase
{
public:
  std::size_t getDimension() const;
 
  virtual void update() = 0;
 
  virtual void getInformation(ConstraintInfo* info) = 0;
 
  virtual void applyUnitImpulse(std::size_t index) = 0;
 
  virtual void getVelocityChange(double* vel, bool withCfm) = 0;
 
  virtual void excite() = 0;
 
  virtual void unexcite() = 0;
 
  virtual void applyImpulse(double* lambda) = 0;
 
  virtual bool isActive() const = 0;
 
  virtual dynamics::SkeletonPtr getRootSkeleton() const = 0;
 
  virtual void uniteSkeletons();
 
  static dynamics::SkeletonPtr compressPath(dynamics::SkeletonPtr skeleton);
 
  static dynamics::SkeletonPtr getRootSkeleton(dynamics::SkeletonPtr skeleton);
 
  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------
 
  friend class ConstraintSolver;
  friend class ConstrainedGroup;
 
protected:
  ConstraintBase();
 
  virtual ~ConstraintBase();
 
protected:
  std::size_t mDim;
};
 
} // namespace constraint
} // namespace dart
 
#endif  // DART_CONSTRAINT_CONSTRAINTBASE_HPP_