BallJointConstraint represents ball joint constraint between a body and the world or between two bodies. More...

Inheritance diagram for dart::dynamics::BallJointConstraint:

Collaboration diagram for dart::dynamics::BallJointConstraint:

Public Member Functions
	BallJointConstraint (dynamics::BodyNode *_body, const Eigen::Vector3d &_jointPos)
	Constructor that takes one body and the joint position in the world frame. More...

	BallJointConstraint (dynamics::BodyNode _body1, dynamics::BodyNode _body2, const Eigen::Vector3d &_jointPos)
	Constructor that takes two bodies and the joint position in the frame of _body1. More...

virtual	~BallJointConstraint ()
	Destructor.

const std::string &	getType () const override
	Returns a string representing the constraint type.

Public Member Functions inherited from dart::dynamics::JointConstraint
	JointConstraint (dynamics::BodyNode *_body)
	Contructor.

	JointConstraint (dynamics::BodyNode _body1, dynamics::BodyNode _body2)
	Contructor.

virtual	~JointConstraint ()
	Destructor.

dynamics::BodyNode *	getBodyNode1 () const
	Get the first BodyNode that this constraint is associated with.

dynamics::BodyNode *	getBodyNode2 () const
	Get the second BodyNode that this constraint is associated with.

Public Member Functions inherited from dart::dynamics::ConstraintBase
std::size_t	getDimension () const
	Return dimesion of this constranit.

virtual	~ConstraintBase ()
	Destructor.

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns constraint type for this class.

Static Public Member Functions inherited from dart::dynamics::JointConstraint
static void	setErrorAllowance (double _allowance)
	Set global error reduction parameter.

static double	getErrorAllowance ()
	Get global error reduction parameter.

static void	setErrorReductionParameter (double _erp)
	Set global error reduction parameter.

static double	getErrorReductionParameter ()
	Get global error reduction parameter.

static void	setMaxErrorReductionVelocity (double _erv)
	Set global error reduction parameter.

static double	getMaxErrorReductionVelocity ()
	Get global error reduction parameter.

static void	setConstraintForceMixing (double _cfm)
	Set global constraint force mixing parameter.

static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter.

Static Public Member Functions inherited from dart::dynamics::ConstraintBase
static dynamics::SkeletonPtr	compressPath (dynamics::SkeletonPtr skeleton)

static dynamics::SkeletonPtr	getRootSkeleton (dynamics::SkeletonPtr skeleton)

Protected Member Functions
void	update () override
	Update constraint using updated Skeleton's states.

void	getInformation (ConstraintInfo *_lcp) override
	Fill LCP variables.

void	applyUnitImpulse (std::size_t _index) override
	Apply unit impulse to constraint space.

void	getVelocityChange (double *_vel, bool _withCfm) override
	Get velocity change due to the uint impulse.

void	excite () override
	Excite the constraint.

void	unexcite () override
	Unexcite the constraint.

void	applyImpulse (double *_lambda) override
	Apply computed constraint impulse to constrained skeletons.

bool	isActive () const override
	Return true if this constraint is active.

dynamics::SkeletonPtr	getRootSkeleton () const override

void	uniteSkeletons () override

Protected Member Functions inherited from dart::dynamics::ConstraintBase
	ConstraintBase ()
	Default contructor.

Additional Inherited Members
Protected Attributes inherited from dart::dynamics::JointConstraint
dynamics::BodyNode *	mBodyNode1
	First body node.

dynamics::BodyNode *	mBodyNode2
	Second body node.

Protected Attributes inherited from dart::dynamics::ConstraintBase
std::size_t	mDim
	Dimension of constraint.

Static Protected Attributes inherited from dart::dynamics::JointConstraint
static double	mErrorAllowance = DART_ERROR_ALLOWANCE
	Global constraint error allowance.

static double	mErrorReductionParameter = DART_ERP
	Global constraint error redection parameter in the range of [0, 1]. More...

static double	mMaxErrorReductionVelocity = DART_MAX_ERV
	Maximum error reduction velocity.

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

Detailed Description

BallJointConstraint represents ball joint constraint between a body and the world or between two bodies.

Constructor & Destructor Documentation

dart::dynamics::BallJointConstraint::BallJointConstraint	(	dynamics::BodyNode *	_body,
		const Eigen::Vector3d &	_jointPos
	)

Constructor that takes one body and the joint position in the world frame.

Parameters

[in]	_body
[in]	_jointPos	Joint position expressed in world frame

dart::dynamics::BallJointConstraint::BallJointConstraint	(	dynamics::BodyNode *	_body1,
		dynamics::BodyNode *	_body2,
		const Eigen::Vector3d &	_jointPos
	)

Constructor that takes two bodies and the joint position in the frame of _body1.

Parameters

[in]	_body1
[in]	_body2
[in]	_jointPos	Joint position expressed in world frame

The documentation for this class was generated from the following files: