DART 6.7.3
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BallJointConstraint.hpp
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1/*
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32
33#ifndef DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
34#define DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
35
36#include <Eigen/Dense>
37
40
41namespace dart {
42namespace constraint {
43
47{
48public:
52 const Eigen::Vector3d& _jointPos);
53
54
59 const Eigen::Vector3d& _jointPos);
60
62 virtual ~BallJointConstraint();
63
64protected:
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
95
96 // Documentation inherited
97 void uniteSkeletons() override;
98
99private:
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
122
123public:
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
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