Inheritance diagram for dart::dynamics::PointMass:

Collaboration diagram for dart::dynamics::PointMass:

Classes
struct	Properties
	Properties for each PointMass. More...

struct	State
	State for each PointMass. More...

Public Member Functions
virtual	~PointMass ()
	Default destructor.

State &	getState ()
	State of this PointMass.

const State &	getState () const
	State of this PointMass.

std::size_t	getIndexInSoftBodyNode () const

void	setMass (double _mass)

double	getMass () const

double	getPsi () const

double	getImplicitPsi () const

double	getPi () const

double	getImplicitPi () const

void	addConnectedPointMass (PointMass *_pointMass)

std::size_t	getNumConnectedPointMasses () const

PointMass *	getConnectedPointMass (std::size_t _idx)

const PointMass *	getConnectedPointMass (std::size_t _idx) const

void	setColliding (bool _isColliding)
	Set whether this point mass is colliding with other objects. More...

bool	isColliding ()
	Return whether this point mass is set to be colliding with other objects. More...

std::size_t	getNumDofs () const

void	setPosition (std::size_t _index, double _position)

double	getPosition (std::size_t _index) const

void	setPositions (const Eigen::Vector3d &_positions)

const Eigen::Vector3d &	getPositions () const

void	resetPositions ()

void	setVelocity (std::size_t _index, double _velocity)

double	getVelocity (std::size_t _index) const

void	setVelocities (const Eigen::Vector3d &_velocities)

const Eigen::Vector3d &	getVelocities () const

void	resetVelocities ()

void	setAcceleration (std::size_t _index, double _acceleration)

double	getAcceleration (std::size_t _index) const

void	setAccelerations (const Eigen::Vector3d &_accelerations)

const Eigen::Vector3d &	getAccelerations () const

const Eigen::Vector3d &	getPartialAccelerations () const
	Get the Eta term of this PointMass.

void	resetAccelerations ()

void	setForce (std::size_t _index, double _force)

double	getForce (std::size_t _index)

void	setForces (const Eigen::Vector3d &_forces)

const Eigen::Vector3d &	getForces () const

void	resetForces ()

void	setVelocityChange (std::size_t _index, double _velocityChange)

double	getVelocityChange (std::size_t _index)

void	resetVelocityChanges ()

void	setConstraintImpulse (std::size_t _index, double _impulse)

double	getConstraintImpulse (std::size_t _index)

void	resetConstraintImpulses ()

void	integratePositions (double _dt)

void	integrateVelocities (double _dt)

void	addExtForce (const Eigen::Vector3d &_force, bool _isForceLocal=false)
	Add linear Cartesian force to this node. More...

void	clearExtForce ()

void	setConstraintImpulse (const Eigen::Vector3d &_constImp, bool _isLocal=false)
	Set constraint impulse.

void	addConstraintImpulse (const Eigen::Vector3d &_constImp, bool _isLocal=false)
	Add constraint impulse.

void	clearConstraintImpulse ()
	Clear constraint impulse.

Eigen::Vector3d	getConstraintImpulses () const
	Get constraint impulse.

void	setRestingPosition (const Eigen::Vector3d &_p)

const Eigen::Vector3d &	getRestingPosition () const

const Eigen::Vector3d &	getLocalPosition () const

const Eigen::Vector3d &	getWorldPosition () const

Eigen::Matrix< double, 3, Eigen::Dynamic >	getBodyJacobian ()

Eigen::Matrix< double, 3, Eigen::Dynamic >	getWorldJacobian ()

const Eigen::Vector3d &	getBodyVelocityChange () const
	Return velocity change due to impulse.

SoftBodyNode *	getParentSoftBodyNode ()

const SoftBodyNode *	getParentSoftBodyNode () const

const Eigen::Vector3d &	getBodyVelocity () const
	The number of the generalized coordinates by which this node is affected. More...

Eigen::Vector3d	getWorldVelocity () const
	Get the generalized velocity at the position of this point mass where the velocity is expressed in the world frame. More...

const Eigen::Vector3d &	getBodyAcceleration () const
	Get the generalized acceleration at the position of this point mass where the acceleration is expressed in the parent soft body node frame. More...

Eigen::Vector3d	getWorldAcceleration () const
	Get the generalized acceleration at the position of this point mass where the acceleration is expressed in the world frame. More...

Public Member Functions inherited from dart::common::Subject
virtual	~Subject ()
	Destructor will notify all Observers that it is destructing.

Protected Member Functions
	PointMass (SoftBodyNode *_softBodyNode)
	Constructor used by SoftBodyNode.

void	init ()

Recursive dynamics routines
void	updateTransform () const
	Update transformation.

void	updateVelocity () const
	Update body velocity.

void	updatePartialAcceleration () const
	Update partial body acceleration due to parent joint's velocity.

void	updateArtInertiaFD (double _timeStep) const
	Update articulated body inertia. More...

void	updateBiasForceFD (double _dt, const Eigen::Vector3d &_gravity)
	Update bias force associated with the articulated body inertia. More...

void	updateBiasImpulseFD ()
	Update bias impulse associated with the articulated body inertia. More...

void	updateAccelerationID () const
	Update body acceleration with the partial body acceleration.

void	updateAccelerationFD ()
	Update body acceleration. Forward dynamics routine.

void	updateVelocityChangeFD ()
	Update body velocity change. More...

void	updateTransmittedForceID (const Eigen::Vector3d &_gravity, bool _withExternalForces=false)
	Update body force. Inverse dynamics routine.

void	updateTransmittedForce ()
	Update body force. Forward dynamics routine.

void	updateTransmittedImpulse ()
	Update body force. Impulse-based forward dynamics routine.

void	updateJointForceID (double _timeStep, double _withDampingForces, double _withSpringForces)
	Update the joint force. Inverse dynamics routine.

void	updateConstrainedTermsFD (double _timeStep)
	Update constrained terms due to the constraint impulses. More...

Equations of motion related routines
void	updateMassMatrix ()

void	aggregateMassMatrix (Eigen::MatrixXd &_MCol, int _col)

void	aggregateAugMassMatrix (Eigen::MatrixXd &_MCol, int _col, double _timeStep)

void	updateInvMassMatrix ()

void	updateInvAugMassMatrix ()

void	aggregateInvMassMatrix (Eigen::MatrixXd &_MInvCol, int _col)

void	aggregateInvAugMassMatrix (Eigen::MatrixXd &_MInvCol, int _col, double _timeStep)

void	aggregateGravityForceVector (Eigen::VectorXd &_g, const Eigen::Vector3d &_gravity)

void	updateCombinedVector ()

void	aggregateCombinedVector (Eigen::VectorXd &_Cg, const Eigen::Vector3d &_gravity)

void	aggregateExternalForces (Eigen::VectorXd &_Fext)
	Aggregate the external forces mFext in the generalized coordinates recursively. More...

Protected Member Functions inherited from dart::common::Subject
void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers.

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers.

Protected Attributes
Eigen::Vector3d	mM_dV

Eigen::Vector3d	mM_F

Eigen::Vector3d	mBiasForceForInvMeta

Eigen::Vector3d	mG_F

Eigen::Vector3d	mCg_dV

Eigen::Vector3d	mCg_F

SoftBodyNode *	mParentSoftBodyNode
	SoftBodyNode that this PointMass belongs to.

std::size_t	mIndex
	Index of this PointMass within the SoftBodyNode.

Eigen::Vector3d	mPositionDeriv
	Derivatives w.r.t. an arbitrary scalr variable.

Eigen::Vector3d	mVelocitiesDeriv
	Derivatives w.r.t. an arbitrary scalr variable.

Eigen::Vector3d	mAccelerationsDeriv
	Derivatives w.r.t. an arbitrary scalr variable.

Eigen::Vector3d	mForcesDeriv
	Derivatives w.r.t. an arbitrary scalr variable.

Eigen::Vector3d	mVelocityChanges
	Change of generalized velocity.

Eigen::Vector3d	mConstraintImpulses
	Generalized constraint impulse.

Eigen::Vector3d	mW
	Current position viewed in world frame.

Eigen::Vector3d	mX
	Current position viewed in parent soft body node frame.

Eigen::Vector3d	mV
	Current velocity viewed in parent soft body node frame.

Eigen::Vector3d	mEta
	Partial Acceleration of this PointMass.

Eigen::Vector3d	mAlpha

Eigen::Vector3d	mBeta

Eigen::Vector3d	mA
	Current acceleration viewed in parent body node frame.

Eigen::Vector3d	mF

double	mPsi

double	mImplicitPsi

double	mPi

double	mImplicitPi

Eigen::Vector3d	mB
	Bias force.

Eigen::Vector3d	mFext
	External force.

std::vector< std::size_t >	mDependentGenCoordIndices
	A increasingly sorted list of dependent dof indices.

bool	mIsColliding
	Whether the node is currently in collision with another node.

Eigen::Vector3d	mDelV
	Velocity change due to constraint impulse.

Eigen::Vector3d	mImpB
	Impulsive bias force due to external impulsive force exerted on bodies of the parent skeleton. More...

Eigen::Vector3d	mImpAlpha
	Cache data for mImpB.

Eigen::Vector3d	mImpBeta
	Cache data for mImpB.

Eigen::Vector3d	mImpF
	Generalized impulsive body force w.r.t. body frame.

PointMassNotifier *	mNotifier

Protected Attributes inherited from dart::common::Subject
std::set< Observer * >	mObservers
	List of current Observers.

Friends
class	SoftBodyNode

Member Function Documentation

◆ addExtForce()

void dart::dynamics::PointMass::addExtForce	(	const Eigen::Vector3d &	_force,
		bool	_isForceLocal = `false`
	)

Add linear Cartesian force to this node.

Parameters

[in]	_force	External force.
[in]	_isForceLocal	True if _force's reference frame is of the parent soft body node. False if _force's reference frame is of the world.

◆ aggregateExternalForces()

void dart::dynamics::PointMass::aggregateExternalForces ( Eigen::VectorXd & _Fext )

protected

Aggregate the external forces mFext in the generalized coordinates recursively.

◆ getBodyAcceleration()

const Eigen::Vector3d & dart::dynamics::PointMass::getBodyAcceleration ( ) const

Get the generalized acceleration at the position of this point mass where the acceleration is expressed in the parent soft body node frame.

◆ getBodyJacobian()

Eigen::Matrix< double, 3, Eigen::Dynamic > dart::dynamics::PointMass::getBodyJacobian ( )

Todo:: Temporary function.

◆ getBodyVelocity()

const Eigen::Vector3d & dart::dynamics::PointMass::getBodyVelocity ( ) const

The number of the generalized coordinates by which this node is affected.

Return a generalized coordinate index from the array index (< getNumDependentDofs). Get the generalized velocity at the position of this point mass where the velocity is expressed in the parent soft body node frame.

◆ getWorldAcceleration()

Eigen::Vector3d dart::dynamics::PointMass::getWorldAcceleration ( ) const

Get the generalized acceleration at the position of this point mass where the acceleration is expressed in the world frame.

◆ getWorldVelocity()

Eigen::Vector3d dart::dynamics::PointMass::getWorldVelocity ( ) const

Get the generalized velocity at the position of this point mass where the velocity is expressed in the world frame.

◆ isColliding()

bool dart::dynamics::PointMass::isColliding ( )

Return whether this point mass is set to be colliding with other objects.

Returns: True if this point mass is colliding.

◆ setColliding()

void dart::dynamics::PointMass::setColliding ( bool _isColliding )

Set whether this point mass is colliding with other objects.

Note that this status is set by the constraint solver during dynamics simulation but not by collision detector.

Parameters

[in] _isColliding True if this point mass is colliding.

◆ updateArtInertiaFD()

void dart::dynamics::PointMass::updateArtInertiaFD ( double _timeStep ) const

protected

Update articulated body inertia.

Forward dynamics routine.

Parameters

[in] _timeStep Rquired for implicit joint stiffness and damping.

◆ updateBiasForceFD()

void dart::dynamics::PointMass::updateBiasForceFD	(	double	_dt,
		const Eigen::Vector3d &	_gravity
	)

protected

Update bias force associated with the articulated body inertia.

Forward dynamics routine.

Parameters

[in]	_dt	Required for implicit joint stiffness and damping.
[in]	_gravity	Vector of gravitational acceleration

◆ updateBiasImpulseFD()

void dart::dynamics::PointMass::updateBiasImpulseFD ( )

protected

Update bias impulse associated with the articulated body inertia.

Impulse-based forward dynamics routine.

◆ updateConstrainedTermsFD()

void dart::dynamics::PointMass::updateConstrainedTermsFD ( double _timeStep )

protected

Update constrained terms due to the constraint impulses.

Foward dynamics routine.

◆ updateVelocityChangeFD()

void dart::dynamics::PointMass::updateVelocityChangeFD ( )

protected

Update body velocity change.

Impluse-based forward dynamics routine.

Member Data Documentation

◆ mImpB

Eigen::Vector3d dart::dynamics::PointMass::mImpB

protected

Impulsive bias force due to external impulsive force exerted on bodies of the parent skeleton.

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

dart/dynamics/PointMass.hpp
dart/dynamics/PointMass.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ addExtForce()

◆ aggregateExternalForces()

◆ getBodyAcceleration()

◆ getBodyJacobian()

◆ getBodyVelocity()

◆ getWorldAcceleration()

◆ getWorldVelocity()

◆ isColliding()

◆ setColliding()

◆ updateArtInertiaFD()

◆ updateBiasForceFD()

◆ updateBiasImpulseFD()

◆ updateConstrainedTermsFD()

◆ updateVelocityChangeFD()

Member Data Documentation

◆ mImpB