Base class for all physics constraints. Contains data specific to the constraint and a pair of implementations. More...

#include <Constraint.h>

Inheritance diagram for SurgSim::Physics::Constraint:

Public Member Functions
	Constraint (ConstraintType constraintType, std::shared_ptr< ConstraintData > data, std::shared_ptr< Representation > representation0, const SurgSim::DataStructures::Location &location0, std::shared_ptr< Representation > representation1, const SurgSim::DataStructures::Location &location1)
	Sets all the values for this constraints, does validation on the parameters and will throw if something is wrong with the constraint. More...

virtual	~Constraint ()
	Destructor.

void	setInformation (ConstraintType constraintType, std::shared_ptr< ConstraintData > data, std::shared_ptr< Representation > representation0, const SurgSim::DataStructures::Location &location0, std::shared_ptr< Representation > representation1, const SurgSim::DataStructures::Location &location1)
	Sets all the values for this constraints, does validation on the parameters and will throw if something is wrong with the constraint. More...

const std::pair< std::shared_ptr< ConstraintImplementation >, std::shared_ptr< ConstraintImplementation > > &	getImplementations () const
	Gets both sides implementation as a pair. More...

const std::pair< std::shared_ptr< Localization >, std::shared_ptr< Localization > > &	getLocalizations () const
	Gets both sides Localization as a pair. More...

std::shared_ptr< ConstraintData >	getData () const
	Gets the data associated to this constraint. More...

size_t	getNumDof () const
	Gets the number of degree of freedom for this constraint. More...

ConstraintType	getType ()
	Gets the ConstraintType. More...

void	build (double dt, MlcpPhysicsProblem *mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint)
	Builds subset of an Mlcp physics problem associated to this constraint. More...

bool	isActive ()

void	setActive (bool flag)

Protected Member Functions
virtual void	doBuild (double dt, const ConstraintData &data, MlcpPhysicsProblem *mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint)
	Builds subset of an Mlcp physics problem associated to this constraint user-defined call for extra treatment. More...

Protected Attributes
std::array< Math::MlcpConstraintType, NUM_CONSTRAINT_TYPES >	m_mlcpMap
	Constraint-MLCP mapping.

std::shared_ptr< ConstraintData >	m_data
	Specific data associated to this constraint.

std::pair< std::shared_ptr< ConstraintImplementation >, std::shared_ptr< ConstraintImplementation > >	m_implementations
	Pair of implementations defining the 2 sides of the constraint.

std::pair< std::shared_ptr< Localization >, std::shared_ptr< Localization > >	m_localizations

size_t	m_numDof
	The degrees of freedom that this constraint has.

ConstraintType	m_constraintType
	The type of this constraint.

bool	m_active
	Flag to indicate whether this constraint is active or not.

Detailed Description

Base class for all physics constraints. Contains data specific to the constraint and a pair of implementations.

Constructor & Destructor Documentation

§ Constraint()

SurgSim::Physics::Constraint::Constraint	(	ConstraintType	constraintType,
		std::shared_ptr< ConstraintData >	data,
		std::shared_ptr< Representation >	representation0,
		const SurgSim::DataStructures::Location &	location0,
		std::shared_ptr< Representation >	representation1,
		const SurgSim::DataStructures::Location &	location1
	)

Sets all the values for this constraints, does validation on the parameters and will throw if something is wrong with the constraint.

Parameters

constraintType	The constraint type.
data	The data for this constraint.
representation0,representation1	Both representations in this constraint.
location0,location1	Both locations of the representations involved in this constraint.

Member Function Documentation

§ build()

void SurgSim::Physics::Constraint::build	(	double	dt,
		MlcpPhysicsProblem *	mlcpPhysicsProblem,
		size_t	indexOfRepresentation0,
		size_t	indexOfRepresentation1,
		size_t	indexOfConstraint
	)

Builds subset of an Mlcp physics problem associated to this constraint.

Parameters

	dt	The time step.
[in,out]	mlcpPhysicsProblem	The Mlcp physics problem to be filled up.
	indexOfRepresentation0	The index of the 1st representation in the Mlcp.
	indexOfRepresentation1	The index of the 2nd representation in the Mlcp.
	indexOfConstraint	The index of this constraint in the Mlcp.

§ doBuild()

void SurgSim::Physics::Constraint::doBuild	(	double	dt,
		const ConstraintData &	data,
		MlcpPhysicsProblem *	mlcpPhysicsProblem,
		size_t	indexOfRepresentation0,
		size_t	indexOfRepresentation1,
		size_t	indexOfConstraint
	)

protectedvirtual

Builds subset of an Mlcp physics problem associated to this constraint user-defined call for extra treatment.

Parameters

	dt	The time step
	data	The data specific to this constraint
[in,out]	mlcpPhysicsProblem	The Mlcp physics problem to be filled up
	indexOfRepresentation0	The index of the 1st representation in the Mlcp
	indexOfRepresentation1	The index of the 2nd representation in the Mlcp
	indexOfConstraint	The index of this constraint in the Mlcp

Reimplemented in SurgSim::Physics::RotationVectorConstraint.

§ getData()

std::shared_ptr< ConstraintData > SurgSim::Physics::Constraint::getData ( ) const

Gets the data associated to this constraint.

Returns: The data associated to this constraint.

§ getImplementations()

const std::pair< std::shared_ptr< ConstraintImplementation >, std::shared_ptr< ConstraintImplementation > > & SurgSim::Physics::Constraint::getImplementations ( ) const

Gets both sides implementation as a pair.

Returns: the pair of implementations forming this constraint.

§ getLocalizations()

const std::pair< std::shared_ptr< Localization >, std::shared_ptr< Localization > > & SurgSim::Physics::Constraint::getLocalizations ( ) const

Gets both sides Localization as a pair.

Returns: the pair of localizations forming this constraint.

§ getNumDof()

size_t SurgSim::Physics::Constraint::getNumDof ( ) const

Gets the number of degree of freedom for this constraint.

Returns: The number of degree of freedom for this constraint.

§ getType()

ConstraintType SurgSim::Physics::Constraint::getType ( )

Gets the ConstraintType.

Returns: The type

§ isActive()

bool SurgSim::Physics::Constraint::isActive ( )

Returns: Whether this constraint is active.

§ setActive()

void SurgSim::Physics::Constraint::setActive ( bool flag )

Parameters

flag	Whether this constraint is active.

§ setInformation()

void SurgSim::Physics::Constraint::setInformation	(	ConstraintType	constraintType,
		std::shared_ptr< ConstraintData >	data,
		std::shared_ptr< Representation >	representation0,
		const SurgSim::DataStructures::Location &	location0,
		std::shared_ptr< Representation >	representation1,
		const SurgSim::DataStructures::Location &	location1
	)

Sets all the values for this constraints, does validation on the parameters and will throw if something is wrong with the constraint.

Parameters

constraintType	The constraint type.
data	The data for this constraint.
representation0,representation1	Both representations in this constraint.
location0,location1	Both locations of the representations involved in this constraint.

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

SurgSim/Physics/Constraint.h
SurgSim/Physics/Constraint.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

§ Constraint()

Member Function Documentation

§ build()

§ doBuild()

§ getData()

§ getImplementations()

§ getLocalizations()

§ getNumDof()

§ getType()

§ isActive()

§ setActive()

§ setInformation()