FixedRepresentation fixed rotation vector constraint. More...

Inheritance diagram for SurgSim::Physics::FixedConstraintFixedRotationVector:

Public Member Functions
	FixedConstraintFixedRotationVector ()
	Constructor.

virtual	~FixedConstraintFixedRotationVector ()
	Destructor.

SurgSim::Physics::ConstraintType	getConstraintType () const override
	Gets the constraint type for this ConstraintImplementation. More...

Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
	ConstraintImplementation ()
	Constructor.

virtual	~ConstraintImplementation ()
	Destructor.

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

void	build (double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign)
	Builds the subset of an Mlcp physics problem associated to this implementation. More...

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
static ConstraintImplementationFactory &	getFactory ()

Protected Attributes inherited from SurgSim::Physics::ConstraintImplementation
Eigen::SparseVector< double, Eigen::RowMajor, ptrdiff_t >	m_newH
	Preallocated variable for derived implementations of doBuild.

Detailed Description

FixedRepresentation fixed rotation vector constraint.

This implementation simply fixes the rotational dof of the constraint, effectively controlling the other representation orientation.

Member Function Documentation

SurgSim::Physics::ConstraintType SurgSim::Physics::FixedConstraintFixedRotationVector::getConstraintType ( ) const

overridevirtual

Gets the constraint type for this ConstraintImplementation.

Returns: The constraint type corresponding to this constraint implementation

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