Specific class for rotation vector constraints. More...
#include <RotationVectorConstraint.h>
Inheritance diagram for SurgSim::Physics::RotationVectorConstraint:
Public Member Functions | |
| RotationVectorConstraint (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) | |
| virtual | ~RotationVectorConstraint () |
| Destructor. | |
 Public Member Functions inherited from 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. 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 | |
| void | doBuild (double dt, const ConstraintData &data, MlcpPhysicsProblem *mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) override |
Additional Inherited Members | |
| Protected Attributes inherited from SurgSim::Physics::Constraint | |
| 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
Specific class for rotation vector constraints.
It handles the specificity of the rotation vector in the constraint calculation.
Member Function Documentation
§ doBuild()
|
overrideprotectedvirtual |
- Note
- The rotation vector violation being calculated based on a quaternion interpolation (slerp), and this type of interpolation being highly non-linear, the classical way of using the implementation one after the other one won't work. Therefore, this method temporarily uses the vector mlcpPhysicsProblem->b to retrieve both representation's rotation vectors, then calculate the proper slerp and set the violation back in mlcpPhysicsProblem->b
Reimplemented from SurgSim::Physics::Constraint.
The documentation for this class was generated from the following files:
- SurgSim/Physics/RotationVectorConstraint.h
- SurgSim/Physics/RotationVectorConstraint.cpp
