DART  6.7.3
dart::constraint::ConstraintInfo Struct Reference

ConstraintInfo. More...

#include <ConstraintBase.hpp>

Public Attributes

double * x
 Impulse. More...
 
double * lo
 Lower bound of x. More...
 
double * hi
 Upper bound of x. More...
 
double * b
 Bias term. More...
 
double * w
 Slack variable. More...
 
int * findex
 Friction index. More...
 
double invTimeStep
 Inverse of time step. More...
 

Detailed Description

Member Data Documentation

◆ b

double* dart::constraint::ConstraintInfo::b

Bias term.

◆ findex

int* dart::constraint::ConstraintInfo::findex

Friction index.

◆ hi

double* dart::constraint::ConstraintInfo::hi

Upper bound of x.

◆ invTimeStep

double dart::constraint::ConstraintInfo::invTimeStep

Inverse of time step.

◆ lo

double* dart::constraint::ConstraintInfo::lo

Lower bound of x.

◆ w

double* dart::constraint::ConstraintInfo::w

Slack variable.

◆ x

double* dart::constraint::ConstraintInfo::x

Impulse.