Inheritance diagram for dart::dynamics::JointConstraint:

Collaboration diagram for dart::dynamics::JointConstraint:

Public Member Functions
	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
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 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 Attributes
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
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...

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

Detailed Description

Member Data Documentation

double dart::dynamics::JointConstraint::mConstraintForceMixing = DART_CFM

staticprotected

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

The default is 1e-5

double dart::dynamics::JointConstraint::mErrorReductionParameter = DART_ERP

staticprotected

Global constraint error redection parameter in the range of [0, 1].

The default is 0.01.

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