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

Math::Matrix3d mat3A

Working Matrix3d entries.

Definition at line 46 of file Constraint.h.

mat3B

Math::Matrix3d mat3B

Definition at line 46 of file Constraint.h.

mat3C

Math::Matrix3d mat3C

Definition at line 46 of file Constraint.h.

mat3D

Math::Matrix3d mat3D

Definition at line 46 of file Constraint.h.

mat3E

Math::Matrix3d mat3E

Definition at line 46 of file Constraint.h.

mat3F

Math::Matrix3d mat3F

Definition at line 46 of file Constraint.h.

mat3NA

Math::MatrixNd 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

Math::MatrixNd mat3NB

Definition at line 50 of file Constraint.h.

mat3NC

Math::MatrixNd mat3NC

Definition at line 50 of file Constraint.h.

mat3ND

Math::MatrixNd mat3ND

Definition at line 50 of file Constraint.h.

mat6NA

Math::MatrixNd 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

Math::MatrixNd mat6NB

Definition at line 54 of file Constraint.h.

mat6NC

Math::MatrixNd mat6NC

Definition at line 54 of file Constraint.h.

mat6ND

Math::MatrixNd mat6ND

Definition at line 54 of file Constraint.h.

stA

Math::SpatialTransform stA

Working SpatialTransforms.

Definition at line 60 of file Constraint.h.

stB

Math::SpatialTransform stB

Definition at line 60 of file Constraint.h.

stC

Math::SpatialTransform stC

Definition at line 60 of file Constraint.h.

stD

Math::SpatialTransform stD

Definition at line 60 of file Constraint.h.

svecA

Math::SpatialVector svecA

Working SpatialVectors.

Definition at line 57 of file Constraint.h.

svecB

Math::SpatialVector svecB

Definition at line 57 of file Constraint.h.

svecC

Math::SpatialVector svecC

Definition at line 57 of file Constraint.h.

svecD

Math::SpatialVector svecD

Definition at line 57 of file Constraint.h.

svecE

Math::SpatialVector svecE

Definition at line 57 of file Constraint.h.

svecF

Math::SpatialVector svecF

Definition at line 57 of file Constraint.h.

vec3A

Math::Vector3d vec3A

Working Vector3d entries.

Definition at line 43 of file Constraint.h.

vec3B

Math::Vector3d vec3B

Definition at line 43 of file Constraint.h.

vec3C

Math::Vector3d vec3C

Definition at line 43 of file Constraint.h.

vec3D

Math::Vector3d vec3D

Definition at line 43 of file Constraint.h.

vec3E

Math::Vector3d vec3E

Definition at line 43 of file Constraint.h.

vec3F

Math::Vector3d vec3F

Definition at line 43 of file Constraint.h.

vecNA

Math::VectorNd vecNA

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

Definition at line 40 of file Constraint.h.

vecNB

Math::VectorNd vecNB

Definition at line 40 of file Constraint.h.

vecNC

Math::VectorNd vecNC

Definition at line 40 of file Constraint.h.

vecND

Math::VectorNd 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.

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

• include/rbdl/Constraint.h