DART  6.7.3
BallJointConstraint.hpp
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32 
33 #ifndef DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
34 #define DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
35 
36 #include <Eigen/Dense>
37 
38 #include "dart/math/MathTypes.hpp"
40 
41 namespace dart {
42 namespace constraint {
43 
47 {
48 public:
52  const Eigen::Vector3d& _jointPos);
53 
54 
59  const Eigen::Vector3d& _jointPos);
60 
62  virtual ~BallJointConstraint();
63 
64 protected:
65  //----------------------------------------------------------------------------
66  // Constraint virtual functions
67  //----------------------------------------------------------------------------
68 
69  // Documentation inherited
70  void update() override;
71 
72  // Documentation inherited
73  void getInformation(ConstraintInfo* _lcp) override;
74 
75  // Documentation inherited
76  void applyUnitImpulse(std::size_t _index) override;
77 
78  // Documentation inherited
79  void getVelocityChange(double* _vel, bool _withCfm) override;
80 
81  // Documentation inherited
82  void excite() override;
83 
84  // Documentation inherited
85  void unexcite() override;
86 
87  // Documentation inherited
88  void applyImpulse(double* _lambda) override;
89 
90  // Documentation inherited
91  bool isActive() const override;
92 
93  // Documentation inherited
94  dynamics::SkeletonPtr getRootSkeleton() const override;
95 
96  // Documentation inherited
97  void uniteSkeletons() override;
98 
99 private:
102  Eigen::Vector3d mOffset1;
103 
106  Eigen::Vector3d mOffset2;
107 
109  Eigen::Vector3d mViolation;
110 
112  Eigen::Matrix<double, 3, 6> mJacobian1;
113 
115  Eigen::Matrix<double, 3, 6> mJacobian2;
116 
118  double mOldX[3];
119 
121  std::size_t mAppliedImpulseIndex;
122 
123 public:
124  // To get byte-aligned Eigen vectors
125  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
126 };
127 
128 } // namespace constraint
129 } // namespace dart
130 
131 #endif // DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
132 
BallJointConstraint represents ball joint constraint between a body and the world or between two bodi...
Definition: BallJointConstraint.hpp:47
void excite() override
Excite the constraint.
Definition: BallJointConstraint.cpp:276
void unexcite() override
Unexcite the constraint.
Definition: BallJointConstraint.cpp:289
void getInformation(ConstraintInfo *_lcp) override
Fill LCP variables.
Definition: BallJointConstraint.cpp:127
Eigen::Matrix< double, 3, 6 > mJacobian1
Linear map between constraint space and Cartesian space for body1.
Definition: BallJointConstraint.hpp:112
Eigen::Vector3d mOffset2
Offset from the origin of body frame 2 to the ball joint position where the offset is expressed in bo...
Definition: BallJointConstraint.hpp:106
Eigen::Vector3d mOffset1
Offset from the origin of body frame 1 to the ball joint position where the offset is expressed in bo...
Definition: BallJointConstraint.hpp:102
BallJointConstraint(dynamics::BodyNode *_body, const Eigen::Vector3d &_jointPos)
Constructor that takes one body and the joint position in the world frame.
Definition: BallJointConstraint.cpp:44
void applyImpulse(double *_lambda) override
Apply computed constraint impulse to constrained skeletons.
Definition: BallJointConstraint.cpp:302
Eigen::Matrix< double, 3, 6 > mJacobian2
Linear map between constraint space and Cartesian space for body2.
Definition: BallJointConstraint.hpp:115
dynamics::SkeletonPtr getRootSkeleton() const override
Definition: BallJointConstraint.cpp:319
void uniteSkeletons() override
Definition: BallJointConstraint.cpp:344
void applyUnitImpulse(std::size_t _index) override
Apply unit impulse to constraint space.
Definition: BallJointConstraint.cpp:163
virtual ~BallJointConstraint()
Destructor.
Definition: BallJointConstraint.cpp:88
bool isActive() const override
Return true if this constraint is active.
Definition: BallJointConstraint.cpp:378
void update() override
Update constraint using updated Skeleton's states.
Definition: BallJointConstraint.cpp:93
double mOldX[3]
Definition: BallJointConstraint.hpp:118
std::size_t mAppliedImpulseIndex
Index of applied impulse.
Definition: BallJointConstraint.hpp:121
void getVelocityChange(double *_vel, bool _withCfm) override
Get velocity change due to the uint impulse.
Definition: BallJointConstraint.cpp:239
Eigen::Vector3d mViolation
Position constraint violation expressed in body frame 1.
Definition: BallJointConstraint.hpp:109
class JointConstraint
Definition: JointConstraint.hpp:48
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
Definition: BulletCollisionDetector.cpp:63
ConstraintInfo.
Definition: ConstraintBase.hpp:50