Rigid Body Dynamics Library
ConstraintCache Struct Reference

#include <Constraint.h>

Public Member Functions

 ConstraintCache ()
 

Data Fields

Math::VectorNd vecNZeros
 Here N is taken to mean the number of elements in QDot. More...
 
Math::VectorNd vecNA
 Working vectors that are sized to match the length of qdot. More...
 
Math::VectorNd vecNB
 
Math::VectorNd vecNC
 
Math::VectorNd vecND
 
Math::Vector3d vec3A
 Working Vector3d entries. More...
 
Math::Vector3d vec3B
 
Math::Vector3d vec3C
 
Math::Vector3d vec3D
 
Math::Vector3d vec3E
 
Math::Vector3d vec3F
 
Math::Matrix3d mat3A
 Working Matrix3d entries. More...
 
Math::Matrix3d mat3B
 
Math::Matrix3d mat3C
 
Math::Matrix3d mat3D
 
Math::Matrix3d mat3E
 
Math::Matrix3d mat3F
 
Math::MatrixNd mat3NA
 
Math::MatrixNd mat3NB
 
Math::MatrixNd mat3NC
 
Math::MatrixNd mat3ND
 
Math::MatrixNd mat6NA
 
Math::MatrixNd mat6NB
 
Math::MatrixNd mat6NC
 
Math::MatrixNd mat6ND
 
Math::SpatialVector svecA
 Working SpatialVectors. More...
 
Math::SpatialVector svecB
 
Math::SpatialVector svecC
 
Math::SpatialVector svecD
 
Math::SpatialVector svecE
 
Math::SpatialVector svecF
 
Math::SpatialTransform stA
 Working SpatialTransforms. More...
 
Math::SpatialTransform stB
 
Math::SpatialTransform stC
 
Math::SpatialTransform stD
 

Detailed Description

This struct contains a working memory that can be used by extensions to the Constraint interface. The intent by passing in a ConstraintCache variable to each of the virtual methods of the Constraint interface is to reduce, as much as possible, the memory footprint of each concrete Constraint class. The cache has been sized so that it is more than enough to accomodate all of the memory requirements of the contact constraints and loop constraint classes.

Definition at line 34 of file Constraint.h.

Constructor & Destructor Documentation

◆ ConstraintCache()

ConstraintCache ( )
inline

Definition at line 62 of file Constraint.h.

Field Documentation

◆ mat3A

Working Matrix3d entries.

Definition at line 46 of file Constraint.h.

◆ mat3B

Definition at line 46 of file Constraint.h.

◆ mat3C

Definition at line 46 of file Constraint.h.

◆ mat3D

Definition at line 46 of file Constraint.h.

◆ mat3E

Definition at line 46 of file Constraint.h.

◆ mat3F

Definition at line 46 of file Constraint.h.

◆ mat3NA

Working 3 x N entry matricies, where N is the length of QDot. Quite useful for point Jacobians

Definition at line 50 of file Constraint.h.

◆ mat3NB

Definition at line 50 of file Constraint.h.

◆ mat3NC

Definition at line 50 of file Constraint.h.

◆ mat3ND

Definition at line 50 of file Constraint.h.

◆ mat6NA

Working 6 x N entry matricies, where N is the length of QDot. Quite useful for 6D point Jacobians

Definition at line 54 of file Constraint.h.

◆ mat6NB

Definition at line 54 of file Constraint.h.

◆ mat6NC

Definition at line 54 of file Constraint.h.

◆ mat6ND

Definition at line 54 of file Constraint.h.

◆ stA

Working SpatialTransforms.

Definition at line 60 of file Constraint.h.

◆ stB

Definition at line 60 of file Constraint.h.

◆ stC

Definition at line 60 of file Constraint.h.

◆ stD

Definition at line 60 of file Constraint.h.

◆ svecA

Working SpatialVectors.

Definition at line 57 of file Constraint.h.

◆ svecB

Definition at line 57 of file Constraint.h.

◆ svecC

Definition at line 57 of file Constraint.h.

◆ svecD

Definition at line 57 of file Constraint.h.

◆ svecE

Definition at line 57 of file Constraint.h.

◆ svecF

Definition at line 57 of file Constraint.h.

◆ vec3A

Working Vector3d entries.

Definition at line 43 of file Constraint.h.

◆ vec3B

Definition at line 43 of file Constraint.h.

◆ vec3C

Definition at line 43 of file Constraint.h.

◆ vec3D

Definition at line 43 of file Constraint.h.

◆ vec3E

Definition at line 43 of file Constraint.h.

◆ vec3F

Definition at line 43 of file Constraint.h.

◆ vecNA

Working vectors that are sized to match the length of qdot.

Definition at line 40 of file Constraint.h.

◆ vecNB

Definition at line 40 of file Constraint.h.

◆ vecNC

Definition at line 40 of file Constraint.h.

◆ vecND

Definition at line 40 of file Constraint.h.

◆ vecNZeros

Math::VectorNd vecNZeros

Here N is taken to mean the number of elements in QDot.

Definition at line 37 of file Constraint.h.


The documentation for this struct was generated from the following file: