/
WeldJointConstraint.hpp
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/
WeldJointConstraint.hpp
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/*
* Copyright (c) 2011-2019, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
#define DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
#include <Eigen/Dense>
#include "dart/constraint/JointConstraint.hpp"
#include "dart/math/MathTypes.hpp"
namespace dart {
namespace constraint {
/// WeldJointConstraint represents weld joint constraint between a body and the
/// world or between two bodies
class WeldJointConstraint : public JointConstraint
{
public:
/// Constructor that takes one body
explicit WeldJointConstraint(dynamics::BodyNode* _body);
/// Constructor that takes two bodies
WeldJointConstraint(dynamics::BodyNode* _body1, dynamics::BodyNode* _body2);
/// Set the relative transform that this WeldJointConstraint will enforce
void setRelativeTransform(const Eigen::Isometry3d& _tf);
/// Get the relative transform that this WeldJointConstraint will enforce
const Eigen::Isometry3d& getRelativeTransform() const;
/// Destructor
virtual ~WeldJointConstraint();
// Documentation inherited
const std::string& getType() const override;
/// Returns constraint type for this class.
static const std::string& getStaticType();
protected:
//----------------------------------------------------------------------------
// Constraint virtual functions
//----------------------------------------------------------------------------
// Documentation inherited
void update() override;
// Documentation inherited
void getInformation(ConstraintInfo* _lcp) override;
// Documentation inherited
void applyUnitImpulse(std::size_t _index) override;
// Documentation inherited
void getVelocityChange(double* _vel, bool _withCfm) override;
// Documentation inherited
void excite() override;
// Documentation inherited
void unexcite() override;
// Documentation inherited
void applyImpulse(double* _lambda) override;
// Documentation inherited
bool isActive() const override;
// Documentation inherited
dynamics::SkeletonPtr getRootSkeleton() const override;
// Documentation inherited
void uniteSkeletons() override;
private:
///
Eigen::Isometry3d mRelativeTransform;
///
Eigen::Vector6d mViolation;
///
const Eigen::Matrix6d mJacobian1;
///
Eigen::Matrix6d mJacobian2;
///
double mOldX[6];
/// Index of applied impulse
std::size_t mAppliedImpulseIndex;
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace constraint
} // namespace dart
#endif // DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_