JointConstraint.hpp

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#ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
#define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_

#include "dart/dynamics/ConstraintBase.hpp"

namespace dart {

namespace dynamics {
class BodyNode;
} // namespace dynamics

namespace dynamics {

class JointConstraint : public ConstraintBase
{
public:
  explicit JointConstraint(dynamics::BodyNode* _body);

  JointConstraint(dynamics::BodyNode* _body1, dynamics::BodyNode* _body2);

  virtual ~JointConstraint();

  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------

  static void setErrorAllowance(double _allowance);

  static double getErrorAllowance();

  static void setErrorReductionParameter(double _erp);

  static double getErrorReductionParameter();

  static void setMaxErrorReductionVelocity(double _erv);

  static double getMaxErrorReductionVelocity();

  static void setConstraintForceMixing(double _cfm);

  static double getConstraintForceMixing();

  dynamics::BodyNode* getBodyNode1() const;

  dynamics::BodyNode* getBodyNode2() const;

protected:
  dynamics::BodyNode* mBodyNode1;

  dynamics::BodyNode* mBodyNode2;

  static double mErrorAllowance;

  static double mErrorReductionParameter;

  static double mMaxErrorReductionVelocity;

  static double mConstraintForceMixing;
};

} // namespace dynamics
} // namespace dart

#endif // DART_CONSTRAINT_CONSTRAINT_HPP_