dart::constraint::JointCoulombFrictionConstraint Class Reference

Joint Coulomb friction constraint. More...

#include <JointCoulombFrictionConstraint.hpp>

Inheritance diagram for dart::constraint::JointCoulombFrictionConstraint:

Public Member Functions
	JointCoulombFrictionConstraint (dynamics::Joint *_joint)
	Constructor. More...
virtual	~JointCoulombFrictionConstraint ()
	Destructor. More...
std::size_t	getDimension () const
	Return dimesion of this constranit. More...
virtual void	uniteSkeletons ()

Static Public Member Functions
static void	setConstraintForceMixing (double _cfm)
	Set global constraint force mixing parameter. More...
static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter. More...
static dynamics::SkeletonPtr	getRootSkeleton (dynamics::SkeletonPtr skeleton)
static dynamics::SkeletonPtr	compressPath (dynamics::SkeletonPtr skeleton)

Protected Member Functions
void	update () override
	Update constraint using updated Skeleton's states. More...
void	getInformation (ConstraintInfo *_lcp) override
	Fill LCP variables. More...
void	applyUnitImpulse (std::size_t _index) override
	Apply unit impulse to constraint space. More...
void	getVelocityChange (double *_delVel, bool _withCfm) override
	Get velocity change due to the uint impulse. More...
void	excite () override
	Excite the constraint. More...
void	unexcite () override
	Unexcite the constraint. More...
void	applyImpulse (double *_lambda) override
	Apply computed constraint impulse to constrained skeletons. More...
dynamics::SkeletonPtr	getRootSkeleton () const override
bool	isActive () const override
	Return true if this constraint is active. More...

Protected Attributes
std::size_t	mDim
	Dimension of constraint. More...

Private Attributes
dynamics::Joint *	mJoint
dynamics::BodyNode *	mBodyNode
std::size_t	mAppliedImpulseIndex
	Index of applied impulse. More...
std::size_t	mLifeTime [6]
bool	mActive [6]
double	mNegativeVel [6]
double	mOldX [6]
double	mUpperBound [6]
double	mLowerBound [6]

Static Private Attributes
static double	mConstraintForceMixing = 1e-9
	Global constraint force mixing parameter in the range of [1e-9, 1]. More...

Friends
class	ConstraintSolver
class	ConstrainedGroup

Detailed Description

Joint Coulomb friction constraint.

Constructor & Destructor Documentation

JointCoulombFrictionConstraint()

dart::constraint::JointCoulombFrictionConstraint::JointCoulombFrictionConstraint ( dynamics::Joint *  _joint )

explicit

Constructor.

~JointCoulombFrictionConstraint()

dart::constraint::JointCoulombFrictionConstraint::~JointCoulombFrictionConstraint ( )

virtual

Destructor.

Member Function Documentation

applyImpulse()

void dart::constraint::JointCoulombFrictionConstraint::applyImpulse ( double *  lambda )

overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

applyUnitImpulse()

void dart::constraint::JointCoulombFrictionConstraint::applyUnitImpulse ( std::size_t  index )

overrideprotectedvirtual

Apply unit impulse to constraint space.

Implements dart::constraint::ConstraintBase.

compressPath()

dynamics::SkeletonPtr dart::constraint::ConstraintBase::compressPath ( dynamics::SkeletonPtr  skeleton )

staticinherited

excite()

void dart::constraint::JointCoulombFrictionConstraint::excite ( )

overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

getConstraintForceMixing()

double dart::constraint::JointCoulombFrictionConstraint::getConstraintForceMixing ( )

static

Get global constraint force mixing parameter.

getDimension()

std::size_t dart::constraint::ConstraintBase::getDimension ( ) const

inherited

Return dimesion of this constranit.

getInformation()

void dart::constraint::JointCoulombFrictionConstraint::getInformation ( ConstraintInfo *  info )

overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

getRootSkeleton() [1/2]

dynamics::SkeletonPtr dart::constraint::JointCoulombFrictionConstraint::getRootSkeleton ( ) const

overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

getRootSkeleton() [2/2]

dynamics::SkeletonPtr dart::constraint::ConstraintBase::getRootSkeleton ( dynamics::SkeletonPtr  skeleton )

staticinherited

getVelocityChange()

void dart::constraint::JointCoulombFrictionConstraint::getVelocityChange ( double *  vel, bool  withCfm  )

overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

isActive()

bool dart::constraint::JointCoulombFrictionConstraint::isActive ( ) const

overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

setConstraintForceMixing()

void dart::constraint::JointCoulombFrictionConstraint::setConstraintForceMixing ( double  _cfm )

static

Set global constraint force mixing parameter.

unexcite()

void dart::constraint::JointCoulombFrictionConstraint::unexcite ( )

overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

uniteSkeletons()

void dart::constraint::ConstraintBase::uniteSkeletons ( )

virtualinherited

Reimplemented in dart::constraint::WeldJointConstraint, dart::constraint::SoftContactConstraint, dart::constraint::ContactConstraint, and dart::constraint::BallJointConstraint.

update()

void dart::constraint::JointCoulombFrictionConstraint::update ( )

overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

Friends And Related Function Documentation

ConstrainedGroup

friend class ConstrainedGroup

friend

ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

mActive

bool dart::constraint::JointCoulombFrictionConstraint::mActive[6]

private

mAppliedImpulseIndex

std::size_t dart::constraint::JointCoulombFrictionConstraint::mAppliedImpulseIndex

private

Index of applied impulse.

mBodyNode

dynamics::BodyNode* dart::constraint::JointCoulombFrictionConstraint::mBodyNode

private

mConstraintForceMixing

double dart::constraint::JointCoulombFrictionConstraint::mConstraintForceMixing = 1e-9

staticprivate

Global constraint force mixing parameter in the range of [1e-9, 1].

The default is 1e-5

See also

http://www.ode.org/ode-latest-userguide.html#sec_3_8_0

mDim

std::size_t dart::constraint::ConstraintBase::mDim

protectedinherited

Dimension of constraint.

mJoint

dynamics::Joint* dart::constraint::JointCoulombFrictionConstraint::mJoint

private

mLifeTime

std::size_t dart::constraint::JointCoulombFrictionConstraint::mLifeTime[6]

private

mLowerBound

double dart::constraint::JointCoulombFrictionConstraint::mLowerBound[6]

private

mNegativeVel

double dart::constraint::JointCoulombFrictionConstraint::mNegativeVel[6]

private

mOldX

double dart::constraint::JointCoulombFrictionConstraint::mOldX[6]

private

mUpperBound

double dart::constraint::JointCoulombFrictionConstraint::mUpperBound[6]

private