DART  6.7.3
dart::dynamics::PointMass::Properties Struct Reference

Properties for each PointMass. More...

#include <PointMass.hpp>

Public Member Functions

 Properties (const Eigen::Vector3d &_X0=Eigen::Vector3d::Zero(), double _mass=0.0005, const std::vector< std::size_t > &_connections=std::vector< std::size_t >(), const Eigen::Vector3d &_positionLowerLimits=Eigen::Vector3d::Constant(-math::constantsd::inf()), const Eigen::Vector3d &_positionUpperLimits=Eigen::Vector3d::Constant(math::constantsd::inf()), const Eigen::Vector3d &_velocityLowerLimits=Eigen::Vector3d::Constant(-math::constantsd::inf()), const Eigen::Vector3d &_velocityUpperLimits=Eigen::Vector3d::Constant(math::constantsd::inf()), const Eigen::Vector3d &_accelerationLowerLimits=Eigen::Vector3d::Constant(-math::constantsd::inf()), const Eigen::Vector3d &_accelerationUpperLimits=Eigen::Vector3d::Constant(math::constantsd::inf()), const Eigen::Vector3d &_forceLowerLimits=Eigen::Vector3d::Constant(-math::constantsd::inf()), const Eigen::Vector3d &_forceUpperLimits=Eigen::Vector3d::Constant(math::constantsd::inf()))
 
void setRestingPosition (const Eigen::Vector3d &_x)
 
void setMass (double _mass)
 
bool operator== (const Properties &other) const
 
bool operator!= (const Properties &other) const
 
virtual ~Properties ()=default
 

Public Attributes

Eigen::Vector3d mX0
 Resting position viewed in the parent SoftBodyNode frame. More...
 
double mMass
 Mass. More...
 
std::vector< std::size_t > mConnectedPointMassIndices
 Indices of connected Point Masses. More...
 
Eigen::Vector3d mPositionLowerLimits
 Lower limit of position. More...
 
Eigen::Vector3d mPositionUpperLimits
 Upper limit of position. More...
 
Eigen::Vector3d mVelocityLowerLimits
 Min value allowed. More...
 
Eigen::Vector3d mVelocityUpperLimits
 Max value allowed. More...
 
Eigen::Vector3d mAccelerationLowerLimits
 Min value allowed. More...
 
Eigen::Vector3d mAccelerationUpperLimits
 upper limit of generalized acceleration More...
 
Eigen::Vector3d mForceLowerLimits
 Min value allowed. More...
 
Eigen::Vector3d mForceUpperLimits
 Max value allowed. More...
 

Detailed Description

Constructor & Destructor Documentation

◆ Properties()

dart::dynamics::PointMass::Properties::Properties ( const Eigen::Vector3d &  _X0 = Eigen::Vector3d::Zero(),
double  _mass = 0.0005,
const std::vector< std::size_t > &  _connections = std::vector<std::size_t>(),
const Eigen::Vector3d &  _positionLowerLimits = Eigen::Vector3d::Constant(-math::constantsd::inf()),
const Eigen::Vector3d &  _positionUpperLimits = Eigen::Vector3d::Constant( math::constantsd::inf()),
const Eigen::Vector3d &  _velocityLowerLimits = Eigen::Vector3d::Constant(-math::constantsd::inf()),
const Eigen::Vector3d &  _velocityUpperLimits = Eigen::Vector3d::Constant( math::constantsd::inf()),
const Eigen::Vector3d &  _accelerationLowerLimits = Eigen::Vector3d::Constant(-math::constantsd::inf()),
const Eigen::Vector3d &  _accelerationUpperLimits = Eigen::Vector3d::Constant( math::constantsd::inf()),
const Eigen::Vector3d &  _forceLowerLimits = Eigen::Vector3d::Constant(-math::constantsd::inf()),
const Eigen::Vector3d &  _forceUpperLimits = Eigen::Vector3d::Constant( math::constantsd::inf()) 
)

◆ ~Properties()

virtual dart::dynamics::PointMass::Properties::~Properties ( )
virtualdefault

Member Function Documentation

◆ operator!=()

bool dart::dynamics::PointMass::Properties::operator!= ( const Properties other) const

◆ operator==()

bool dart::dynamics::PointMass::Properties::operator== ( const Properties other) const

◆ setMass()

void dart::dynamics::PointMass::Properties::setMass ( double  _mass)

◆ setRestingPosition()

void dart::dynamics::PointMass::Properties::setRestingPosition ( const Eigen::Vector3d &  _x)

Member Data Documentation

◆ mAccelerationLowerLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mAccelerationLowerLimits

Min value allowed.

◆ mAccelerationUpperLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mAccelerationUpperLimits

upper limit of generalized acceleration

◆ mConnectedPointMassIndices

std::vector<std::size_t> dart::dynamics::PointMass::Properties::mConnectedPointMassIndices

Indices of connected Point Masses.

◆ mForceLowerLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mForceLowerLimits

Min value allowed.

◆ mForceUpperLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mForceUpperLimits

Max value allowed.

◆ mMass

double dart::dynamics::PointMass::Properties::mMass

Mass.

◆ mPositionLowerLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mPositionLowerLimits

Lower limit of position.

◆ mPositionUpperLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mPositionUpperLimits

Upper limit of position.

◆ mVelocityLowerLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mVelocityLowerLimits

Min value allowed.

◆ mVelocityUpperLimits

Eigen::Vector3d dart::dynamics::PointMass::Properties::mVelocityUpperLimits

Max value allowed.

◆ mX0

Eigen::Vector3d dart::dynamics::PointMass::Properties::mX0

Resting position viewed in the parent SoftBodyNode frame.