OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T > Class Template Reference

#include <optimization_make_mbd_bounds.h>

List of all members.

Classes
class	vector_iterator
Public Types
typedef T	value_type
typedef OpenTissue::math::ValueTraits < T >	value_traits
Public Member Functions
	MultibodyDynamicsBoundFunctor (bool const &is_lower, ublas::vector< size_t > const &pi, ublas::vector< T > const &mu, ublas::vector< T > const &val)
template<typename vector_type >
T	operator() (vector_type const &x, size_t const &i) const
vector_iterator	partial_begin (size_t const &i) const
vector_iterator	partial_end (size_t const &i) const
size_t	size () const
Protected Attributes
bool	m_is_lower
	This boolean value indicates whether the functor represents lower bounds or upper bounds.
ublas::vector< size_t > const &	m_pi
	Dependency index vector. This vector holds information about the coupling between tangential friction forces and the corresponding normal forces.
ublas::vector< T > const &	m_mu
	Friction coefficient vector. The i'th entry holds the friction coefficient that should be used for the i'th ``force''. Note that the vector also holds values for normal forces. However, these values are ``don't cares'' and are ignored in this functor.
ublas::vector< T > const &	m_val
	If there is no dependent variable (not a friction force) then the bound value is constant and is taken from this value vector.
size_t	m_n
	The number of constraints (ie. the dimension of the bound function).

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Detailed Description

template<typename T>
class OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >

Multibody Dynamics Bound Functor Wrapper. This is a convenience class making it easier to construct bound functor objects for a multibody constraint formulation.

In Multibody Dynamics the constraint forces is easily formulated as a linear mixed complementrarity problem (LMCP).

The lower and upper bounds functions are in this case easily computed from an index dependency vector, pi, and a coefficient vector, mu.

pi: This vector holds the indices of the dependent constraints. For some variables their upper and lower bounds are modelled as a linear dependency on some other variable. That is for the $j$'th variable we might have

lower_j = -mu_j x_i upper_j = mu_j x_i

This vector holds the indices of the depedent variables. That is

pi_j = i

If the j'th entry stores the maximum possible value of the underlying data-type in the vector then it means that there are no dependencies.

mu: This vectors holds the values of the linear scaling factor of the dependent constraints.

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Member Typedef Documentation

template<typename T>

typedef OpenTissue::math::ValueTraits<T> OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::value_traits

template<typename T>

typedef T OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::value_type

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Constructor & Destructor Documentation

template<typename T>

OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::MultibodyDynamicsBoundFunctor	(	bool const &	is_lower,
		ublas::vector< size_t > const &	pi,
		ublas::vector< T > const &	mu,
		ublas::vector< T > const &	val
	)			[inline]

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Member Function Documentation

template<typename T>

template<typename vector_type >

T OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::operator()	(	vector_type const &	x,
		size_t const &	i
	)			const [inline]

template<typename T>

vector_iterator OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::partial_begin

(

size_t const &

i

)

const [inline]

template<typename T>

vector_iterator OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::partial_end

(

size_t const &

i

)

const [inline]

template<typename T>

size_t OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::size

(

)

const [inline]

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Member Data Documentation

template<typename T>

bool OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::m_is_lower [protected]

This boolean value indicates whether the functor represents lower bounds or upper bounds.

template<typename T>

ublas::vector<T> const& OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::m_mu [protected]

Friction coefficient vector. The i'th entry holds the friction coefficient that should be used for the i'th ``force''. Note that the vector also holds values for normal forces. However, these values are ``don't cares'' and are ignored in this functor.

template<typename T>

size_t OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::m_n [protected]

The number of constraints (ie. the dimension of the bound function).

template<typename T>

ublas::vector<size_t> const& OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::m_pi [protected]

Dependency index vector. This vector holds information about the coupling between tangential friction forces and the corresponding normal forces.

template<typename T>

ublas::vector<T> const& OpenTissue::math::optimization::detail::MultibodyDynamicsBoundFunctor< T >::m_val [protected]

If there is no dependent variable (not a friction force) then the bound value is constant and is taken from this value vector.

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

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/core/math/optimization/optimization_make_mbd_bounds.h