#include <mbd_angular_joint_motor.h>

Inheritance diagram for OpenTissue::mbd::AngularJointMotor< mbd_types >:

Public Types
typedef mbd_types::math_policy::index_type	size_type
typedef mbd_types::math_policy::value_traits	value_traits
typedef mbd_types::math_policy::real_type	real_type
typedef mbd_types::math_policy::vector3_type	vector3_type
typedef mbd_types::math_policy::vector_range	vector_range
typedef mbd_types::math_policy::idx_vector_range	idx_vector_range
typedef mbd_types::math_policy::matrix_range	matrix_range
Public Member Functions
void	set_maximum_force (real_type const &f_max)
real_type	get_maximum_force () const
void	set_desired_speed (real_type const &v_desired)
real_type	get_desired_speed () const
	AngularJointMotor ()
virtual	~AngularJointMotor ()
void	evaluate (vector3_type const &s_wcs)
size_type	get_number_of_jacobian_rows () const
void	get_linear_jacobian_A (matrix_range &J, size_type const &offset) const
void	get_linear_jacobian_B (matrix_range &J, size_type const &offset) const
void	get_angular_jacobian_A (matrix_range &J, size_type const &offset) const
void	get_angular_jacobian_B (matrix_range &J, size_type const &offset) const
void	get_stabilization_term (vector_range &b_error, size_type const &offset) const
void	get_low_limits (vector_range &lo, size_type const &offset) const
void	get_high_limits (vector_range &hi, size_type const &offset) const
void	get_dependency_indices (idx_vector_range &dep, size_type const &offset) const
void	get_dependency_factors (vector_range &factors, size_type const &offset) const
void	set_regularization (vector_range const &gamma, size_type const &offset)
void	get_regularization (vector_range &gamma, size_type const &offset) const
void	set_solution (vector_range const &solution, size_type const &offset)
void	get_solution (vector_range &solution, size_type const &offset) const
Protected Attributes
real_type	m_f_max
	Maximum allowed force.
real_type	m_v_desired
	The desired velocity to move along joint axe.
vector3_type	m_s_wcs
	The joint axe in WCS.
bool	m_eval_active
	Boolean flag indicating whetever the motor is active or not.
size_type	m_rows
	Number of jacobian rows.
real_type	m_gamma
	Constraint force mixing.
real_type	m_solution
	Solution.

template<typename mbd_types>
class OpenTissue::mbd::AngularJointMotor< mbd_types >

Member Typedef Documentation

template<typename mbd_types >

typedef mbd_types::math_policy::idx_vector_range OpenTissue::mbd::AngularJointMotor< mbd_types >::idx_vector_range

Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

typedef mbd_types::math_policy::matrix_range OpenTissue::mbd::AngularJointMotor< mbd_types >::matrix_range

Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

typedef mbd_types::math_policy::real_type OpenTissue::mbd::AngularJointMotor< mbd_types >::real_type

Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

typedef mbd_types::math_policy::index_type OpenTissue::mbd::AngularJointMotor< mbd_types >::size_type

Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

typedef mbd_types::math_policy::value_traits OpenTissue::mbd::AngularJointMotor< mbd_types >::value_traits

Reimplemented from OpenTissue::mbd::CoreConstraintInterface< mbd_types >.

template<typename mbd_types >

typedef mbd_types::math_policy::vector3_type OpenTissue::mbd::AngularJointMotor< mbd_types >::vector3_type

template<typename mbd_types >

typedef mbd_types::math_policy::vector_range OpenTissue::mbd::AngularJointMotor< mbd_types >::vector_range

Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.

Constructor & Destructor Documentation

template<typename mbd_types >

OpenTissue::mbd::AngularJointMotor< mbd_types >::AngularJointMotor ( ) [inline]

template<typename mbd_types >

virtual OpenTissue::mbd::AngularJointMotor< mbd_types >::~AngularJointMotor ( ) [inline, virtual]

Member Function Documentation

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::evaluate ( vector3_type const & s_wcs ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_angular_jacobian_A	(	matrix_range &	J,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_angular_jacobian_B	(	matrix_range &	J,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_dependency_factors	(	vector_range &	factors,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_dependency_indices	(	idx_vector_range &	dep,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

real_type OpenTissue::mbd::AngularJointMotor< mbd_types >::get_desired_speed ( ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_high_limits	(	vector_range &	hi,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_linear_jacobian_A	(	matrix_range &	J,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_linear_jacobian_B	(	matrix_range &	J,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_low_limits	(	vector_range &	lo,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

real_type OpenTissue::mbd::AngularJointMotor< mbd_types >::get_maximum_force ( ) const [inline]

template<typename mbd_types >

size_type OpenTissue::mbd::AngularJointMotor< mbd_types >::get_number_of_jacobian_rows ( ) const [inline, virtual]

Return Number of Jacobian Rows. The number of jacobian rows corresponds to the number of jacobian variables.

Returns:: Jacobian rows.

Implements OpenTissue::mbd::CoreConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_regularization	(	vector_range &	gamma,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_solution	(	vector_range &	solution,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::get_stabilization_term	(	vector_range &	b_error,
		size_type const &	offset
	)			const `[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::set_desired_speed ( real_type const & v_desired ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::set_maximum_force ( real_type const & f_max ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::set_regularization	(	vector_range const &	gamma,
		size_type const &	offset
	)			`[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::AngularJointMotor< mbd_types >::set_solution	(	vector_range const &	solution,
		size_type const &	offset
	)			`[inline, virtual]`

Implements OpenTissue::mbd::SubConstraintInterface< mbd_types >.

Member Data Documentation

template<typename mbd_types >

bool OpenTissue::mbd::AngularJointMotor< mbd_types >::m_eval_active [protected]

Boolean flag indicating whetever the motor is active or not.

template<typename mbd_types >

real_type OpenTissue::mbd::AngularJointMotor< mbd_types >::m_f_max [protected]

Maximum allowed force.

template<typename mbd_types >

real_type OpenTissue::mbd::AngularJointMotor< mbd_types >::m_gamma [protected]

Constraint force mixing.

template<typename mbd_types >

size_type OpenTissue::mbd::AngularJointMotor< mbd_types >::m_rows [protected]

Number of jacobian rows.

template<typename mbd_types >

vector3_type OpenTissue::mbd::AngularJointMotor< mbd_types >::m_s_wcs [protected]

The joint axe in WCS.

template<typename mbd_types >

real_type OpenTissue::mbd::AngularJointMotor< mbd_types >::m_solution [protected]

Solution.

template<typename mbd_types >

real_type OpenTissue::mbd::AngularJointMotor< mbd_types >::m_v_desired [protected]

The desired velocity to move along joint axe.

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

/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/motors/mbd_angular_joint_motor.h

OpenTissue::mbd::AngularJointMotor< mbd_types > Class Template Reference

Public Types

Public Member Functions

Protected Attributes

template<typename mbd_types> class OpenTissue::mbd::AngularJointMotor< mbd_types >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename mbd_types>
class OpenTissue::mbd::AngularJointMotor< mbd_types >