Constraint is a base class of concrete constraints classes. More...
#include <ConstraintBase.hpp>
Inheritance diagram for dart::dynamics::ConstraintBase:
Public Member Functions | |
| virtual const std::string & | getType () const |
| Returns a string representing the constraint type. | |
| std::size_t | getDimension () const |
| Return dimesion of this constranit. | |
| virtual void | update ()=0 |
| Update constraint using updated Skeleton's states. | |
| virtual void | getInformation (ConstraintInfo *info)=0 |
| Fill LCP variables. | |
| virtual void | applyUnitImpulse (std::size_t index)=0 |
| Apply unit impulse to constraint space. | |
| virtual void | getVelocityChange (double *vel, bool withCfm)=0 |
| Get velocity change due to the uint impulse. | |
| virtual void | excite ()=0 |
| Excite the constraint. | |
| virtual void | unexcite ()=0 |
| Unexcite the constraint. | |
| virtual void | applyImpulse (double *lambda)=0 |
| Apply computed constraint impulse to constrained skeletons. | |
| virtual bool | isActive () const =0 |
| Return true if this constraint is active. | |
| virtual dynamics::SkeletonPtr | getRootSkeleton () const =0 |
| virtual void | uniteSkeletons () |
| virtual | ~ConstraintBase () |
| Destructor. | |
Static Public Member Functions | |
| static dynamics::SkeletonPtr | compressPath (dynamics::SkeletonPtr skeleton) |
| static dynamics::SkeletonPtr | getRootSkeleton (dynamics::SkeletonPtr skeleton) |
Protected Member Functions | |
| ConstraintBase () | |
| Default contructor. | |
Protected Attributes | |
| std::size_t | mDim |
| Dimension of constraint. | |
Friends | |
| class | ConstraintSolver |
| class | ConstrainedGroup |
Detailed Description
Constraint is a base class of concrete constraints classes.
The documentation for this class was generated from the following files:
- dart/dynamics/ConstraintBase.hpp
- dart/dynamics/ConstraintBase.cpp
