- Generated on Wed Jul 20 2022 12:57:44 for Rigid Body Dynamics Library by
1.9.3
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Rigid Body Dynamics Library
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Structure that contains both constraint information and workspace memory. More...
#include <Constraints.h>
Public Member Functions | |
| ConstraintSet () | |
| unsigned int | getGroupIndexByName (const char *userDefinedName) |
| getGroupIndex returns the index to a constraints that have been grouped because they are of the same type, apply to the same bodies, and apply to the same local frames on each body. More... | |
| unsigned int | getGroupIndexById (unsigned int userDefinedId) |
| getGroupIndex returns the index to a constraints that have been grouped because they are of the same type, apply to the same bodies, and apply to the same local frames on each body. More... | |
| unsigned int | getGroupIndexByAssignedId (unsigned int assignedId) |
| getGroupIndex returns the index to a constraints that have been grouped because they are of the same type, apply to the same bodies, and apply to the same local frames on each body. More... | |
| unsigned int | getGroupIndexMax () |
| getGroupIndexMax returns the maximum valid constraint group index (the min. is zero) so that constraint groups can be iterated over if desired. More... | |
| const char * | getGroupName (unsigned int groupIndex) |
| Returns the name of the constraint group, which may differ from the names entered by the user if the constraint is one in which grouping is done automatically (e.g. contact and loop constraints) More... | |
| unsigned int | getGroupSize (unsigned int groupIndex) |
| Returns the number of constraint equations in this group. More... | |
| unsigned int | getGroupType (unsigned int groupIndex) |
| Returns integer corresponding to the ConstraintType. More... | |
| unsigned int | getGroupId (unsigned int groupIndex) |
| Returns the user-defined-id of the constraint group, which may differ from the names entered by the user if the constraint is one in which grouping is done automatically (e.g. contact and loop constraints). More... | |
| unsigned int | getGroupAssignedId (unsigned int groupIndex) |
| Returns assigned id of the constraint group which will be the first id assigned to an entry in a group (if the grouping was done automatically - as is done for contact and loop constraints). More... | |
| void | calcForces (unsigned int groupIndex, Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, std::vector< unsigned int > &updConstraintBodyIdsOutput, std::vector< Math::SpatialTransform > &updConstraintBodyFramesOutput, std::vector< Math::SpatialVector > &updConstraintForcesOutput, bool resolveAllInRootFrame=false, bool updateKinematics=false) |
| calcForces resolves the generalized forces generated by this constraint into equivalent spatial forces (resolved in the local or the base frame) that are applied between the bodies and frames that this constraint applies to. More... | |
| void | calcImpulses (unsigned int groupIndex, Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, std::vector< unsigned int > &constraintBodyIdsOutput, std::vector< Math::SpatialTransform > &constraintBodyFramesOutput, std::vector< Math::SpatialVector > &constraintImpulsesOutput, bool resolveAllInRootFrame=false, bool updateKinematics=false) |
| calcImpulses resolves the generalized impluses generated by this constraint into equivalent spatial impulses (resolved in the local or the base frame) that are applied between the bodies and frames that this constraint applies to. More... | |
| void | calcPositionError (unsigned int groupIndex, Model &model, const Math::VectorNd &Q, Math::VectorNd &positionErrorOutput, bool updateKinematics=false) |
| calcPositionError calculates the vector of position errors associated with this constraint. Note that if the constraint group, or parts of it, are not defined at the position level then 0's will be returned. More... | |
| void | calcVelocityError (unsigned int groupIndex, Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &velocityErrorOutput, bool updateKinematics=false) |
| calcVelocityError calculates the vector of position errors associated with this constraint. Note that if the constraint group, or parts of it, are not defined at the position level then 0's will be returned. More... | |
| void | calcBaumgarteStabilizationForces (unsigned int groupIndex, Model &model, const Math::VectorNd &positionError, const Math::VectorNd &velocityError, Math::VectorNd &baumgarteForcesOutput) |
| bool | isBaumgarteStabilizationEnabled (unsigned int groupIndex) |
| void | enableBaumgarteStabilization (unsigned int groupIndex) |
| void | disableBaumgarteStabilization (unsigned int groupIndex) |
| void | getBaumgarteStabilizationCoefficients (unsigned int groupIndex, Math::Vector2d &baumgartePositionVelocityCoefficientsOutput) |
| unsigned int | AddContactConstraint (unsigned int bodyId, const Math::Vector3d &bodyPoint, const Math::Vector3d &worldNormal, const char *constraintName=NULL, unsigned int userDefinedId=std::numeric_limits< unsigned int >::max()) |
| Adds a single contact constraint (point-ground) to the constraint set. More... | |
| unsigned int | AddLoopConstraint (unsigned int bodyIdPredecessor, unsigned int bodyIdSuccessor, const Math::SpatialTransform &XPredecessor, const Math::SpatialTransform &XSuccessor, const Math::SpatialVector &constraintAxisInPredecessor, bool enableBaumgarteStabilization=false, double stabilizationTimeConstant=0.1, const char *constraintName=NULL, unsigned int userDefinedId=std::numeric_limits< unsigned int >::max()) |
| Adds a loop constraint to the constraint set. More... | |
| unsigned int | AddCustomConstraint (std::shared_ptr< Constraint > customConstraint) |
| Adds a custom constraint to the constraint set. More... | |
| ConstraintSet | Copy () |
| Copies the constraints and resets its ConstraintSet::bound flag. More... | |
| void | SetSolver (Math::LinearSolver solver) |
| Specifies which method should be used for solving undelying linear systems. More... | |
| bool | Bind (const Model &model) |
| Initializes and allocates memory for the constraint set. More... | |
| void | SetActuationMap (const Model &model, const std::vector< bool > &actuatedDof) |
| Initializes and allocates memory needed for InverseDynamicsConstraints and InverseDynamicsConstraintsRelaxed. More... | |
| size_t | size () const |
| Returns the number of constraints. More... | |
| void | clear () |
| Clears all variables in the constraint set. More... | |
Data Fields | |
| Math::LinearSolver | linear_solver |
| Method that should be used to solve internal linear systems. More... | |
| bool | bound |
| Whether the constraint set was bound to a model (mandatory!). More... | |
| std::vector< ConstraintType > | constraintType |
| std::vector< std::string > | name |
| std::map< std::string, unsigned int > | nameGroupMap |
| std::map< unsigned int, unsigned int > | userDefinedIdGroupMap |
| std::map< unsigned int, unsigned int > | idGroupMap |
| std::vector< std::shared_ptr< Constraint > > | constraints |
| std::vector< std::shared_ptr< ContactConstraint > > | contactConstraints |
| std::vector< std::shared_ptr< LoopConstraint > > | loopConstraints |
| Math::VectorNd | err |
| Math::VectorNd | errd |
| Math::VectorNd | force |
| Math::VectorNd | impulse |
| Constraint impulses along the constraint directions. More... | |
| Math::VectorNd | v_plus |
| The velocities we want to have along the constraint directions. More... | |
| Math::MatrixNd | H |
| Workspace for the joint space inertia matrix. More... | |
| Math::VectorNd | C |
| Workspace for the coriolis forces. More... | |
| Math::VectorNd | gamma |
| Workspace of the right hand side of the acceleration equation. More... | |
| Math::MatrixNd | G |
| Workspace for the constraint Jacobian. More... | |
| Math::MatrixNd | A |
| Workspace for the Lagrangian left-hand-side matrix. More... | |
| Math::VectorNd | b |
| Workspace for the Lagrangian right-hand-side. More... | |
| Math::VectorNd | x |
| Workspace for the Lagrangian solution. More... | |
| Math::MatrixNd | S |
| Math::MatrixNd | P |
| Selection matrix for the non-actuated parts of the model. More... | |
| Math::MatrixNd | W |
| Math::MatrixNd | Winv |
| Math::VectorNd | WinvSC |
| Math::VectorNd | u |
| Math::VectorNd | v |
| Math::MatrixNd | F |
| Math::MatrixNd | Ful |
| Math::MatrixNd | Fur |
| Math::MatrixNd | Fll |
| Math::MatrixNd | Flr |
| Math::MatrixNd | GT |
| Math::MatrixNd | GTu |
| Math::MatrixNd | GTl |
| Math::VectorNd | g |
| Math::MatrixNd | Ru |
| Math::VectorNd | py |
| Math::VectorNd | pz |
| Eigen::HouseholderQR< Math::MatrixNd > | GT_qr |
| Workspace for the QR decomposition of the null-space method. More... | |
| Eigen::FullPivHouseholderQR< Math::MatrixNd > | GPT_full_qr |
| Math::MatrixNd | GT_qr_Q |
| Math::MatrixNd | GPT |
| Math::MatrixNd | Y |
| Math::MatrixNd | Z |
| Math::MatrixNd | R |
| Math::VectorNd | qddot_y |
| Math::VectorNd | qddot_z |
| Math::MatrixNd | K |
| Workspace for the Inverse Articulated-Body Inertia. More... | |
| Math::VectorNd | a |
| Workspace for the accelerations of due to the test forces. More... | |
| Math::VectorNd | QDDot_t |
| Workspace for the test accelerations. More... | |
| Math::VectorNd | QDDot_0 |
| Workspace for the default accelerations. More... | |
| std::vector< Math::SpatialVector > | f_t |
| Workspace for the test forces. More... | |
| std::vector< Math::SpatialVector > | f_ext_constraints |
| Workspace for the actual spatial forces. More... | |
| std::vector< Math::Vector3d > | point_accel_0 |
| Workspace for the default point accelerations. More... | |
| std::vector< Math::SpatialVector > | d_pA |
| Workspace for the bias force due to the test force. More... | |
| std::vector< Math::SpatialVector > | d_a |
| Workspace for the acceleration due to the test force. More... | |
| Math::VectorNd | d_u |
| std::vector< Math::SpatialMatrix > | d_IA |
| Workspace for the inertia when applying constraint forces. More... | |
| std::vector< Math::SpatialVector > | d_U |
| Workspace when applying constraint forces. More... | |
| Math::VectorNd | d_d |
| Workspace when applying constraint forces. More... | |
| std::vector< Math::Vector3d > | d_multdof3_u |
| ConstraintCache | cache |
Structure that contains both constraint information and workspace memory.
This structure is used to reduce the amount of memory allocations that are needed when computing constraint forces.
The ConstraintSet has to be bound to a model using ConstraintSet::Bind() before it can be used in ForwardDynamicsContacts .
Definition at line 281 of file Constraints.h.
1.9.3