#include <mbd_core_constraint_interface.h>
Public Types | |
| typedef mbd_types::math_policy::index_type | size_type |
| typedef mbd_types::math_policy::real_type | real_type |
| typedef mbd_types::math_policy::value_traits | value_traits |
Public Member Functions | |
| CoreConstraintInterface () | |
| virtual | ~CoreConstraintInterface () |
| void | set_frames_per_second (real_type const &fps) |
| real_type const & | get_frames_per_second () const |
| void | set_error_reduction_parameter (real_type const &erp) |
| virtual real_type | get_error_reduction_parameter () const |
| bool & | use_erp () |
| bool const & | use_erp () const |
| bool | is_active () const |
| void | set_active (bool active) |
| virtual size_type | get_number_of_jacobian_rows () const =0 |
Protected Attributes | |
| real_type | m_erp |
| Error reduction parameter (must be in the range 0..1). | |
| real_type | m_fps |
| Frames per second (used to compute the amount of error correction that should be done within the next timestep). | |
| bool | m_active |
| Boolean flag indicating if constraint is set to active or not (this has nothing to to do with the evalute method). | |
| bool | m_use_erp |
template<typename mbd_types>
class OpenTissue::mbd::CoreConstraintInterface< mbd_types >
Member Typedef Documentation
| typedef mbd_types::math_policy::real_type OpenTissue::mbd::CoreConstraintInterface< mbd_types >::real_type |
Reimplemented in OpenTissue::mbd::ConstraintInterface< mbd_types >, OpenTissue::mbd::SubConstraintInterface< mbd_types >, OpenTissue::mbd::AngularJointLimit< mbd_types >, OpenTissue::mbd::LinearJointLimit< mbd_types >, OpenTissue::mbd::ReachCone< mbd_types >, OpenTissue::mbd::AngularJointMotor< mbd_types >, and OpenTissue::mbd::LinearJointMotor< mbd_types >.
| typedef mbd_types::math_policy::index_type OpenTissue::mbd::CoreConstraintInterface< mbd_types >::size_type |
Reimplemented in OpenTissue::mbd::ConstraintInterface< mbd_types >, OpenTissue::mbd::SubConstraintInterface< mbd_types >, OpenTissue::mbd::AngularJointLimit< mbd_types >, OpenTissue::mbd::LinearJointLimit< mbd_types >, OpenTissue::mbd::ReachCone< mbd_types >, OpenTissue::mbd::AngularJointMotor< mbd_types >, and OpenTissue::mbd::LinearJointMotor< mbd_types >.
| typedef mbd_types::math_policy::value_traits OpenTissue::mbd::CoreConstraintInterface< mbd_types >::value_traits |
Constructor & Destructor Documentation
| OpenTissue::mbd::CoreConstraintInterface< mbd_types >::CoreConstraintInterface | ( | ) | [inline] |
| virtual OpenTissue::mbd::CoreConstraintInterface< mbd_types >::~CoreConstraintInterface | ( | ) | [inline, virtual] |
Member Function Documentation
| virtual real_type OpenTissue::mbd::CoreConstraintInterface< mbd_types >::get_error_reduction_parameter | ( | ) | const [inline, virtual] |
Get Error Reduction Parameter.
- Returns:
- The value of the error reduction parameter.
| real_type const& OpenTissue::mbd::CoreConstraintInterface< mbd_types >::get_frames_per_second | ( | ) | const [inline] |
Get Frames Per Second.
- Returns:
- The value of frames per second parameter.
| virtual size_type OpenTissue::mbd::CoreConstraintInterface< mbd_types >::get_number_of_jacobian_rows | ( | ) | const [pure virtual] |
Return Number of Jacobian Rows. The number of jacobian rows corresponds to the number of jacobian variables.
- Returns:
- Jacobian rows.
Implemented in OpenTissue::mbd::AngularJointLimit< mbd_types >, OpenTissue::mbd::LinearJointLimit< mbd_types >, OpenTissue::mbd::ReachCone< mbd_types >, OpenTissue::mbd::AngularJointMotor< mbd_types >, and OpenTissue::mbd::LinearJointMotor< mbd_types >.
| bool OpenTissue::mbd::CoreConstraintInterface< mbd_types >::is_active | ( | ) | const [inline] |
Get Active State. This method depends on the isEvaluatedActive() method and get_number_of_jacobian_rows(). If during evaluation the constraint is evaluated to be non-active then this takes precedence over the user setting.
- Returns:
- The current active state.
| void OpenTissue::mbd::CoreConstraintInterface< mbd_types >::set_active | ( | bool | active | ) | [inline] |
Set Active. This method can be used by an end user to force a constraint to be inactive without having to remove the constraint from the configuration.
This could for instance be useful to model a joint breaking.
- Parameters:
-
active The new active state.
| void OpenTissue::mbd::CoreConstraintInterface< mbd_types >::set_error_reduction_parameter | ( | real_type const & | erp | ) | [inline] |
Set Error Reduction Parameter.
- Parameters:
-
erp The new value of the error reduction parameter must be in the interval 0..1
| void OpenTissue::mbd::CoreConstraintInterface< mbd_types >::set_frames_per_second | ( | real_type const & | fps | ) | [inline] |
Set Frames per Second Parameter.
- Parameters:
-
fps The new value of the frames per second parameter.
| bool& OpenTissue::mbd::CoreConstraintInterface< mbd_types >::use_erp | ( | ) | [inline] |
| bool const& OpenTissue::mbd::CoreConstraintInterface< mbd_types >::use_erp | ( | ) | const [inline] |
Member Data Documentation
bool OpenTissue::mbd::CoreConstraintInterface< mbd_types >::m_active [protected] |
Boolean flag indicating if constraint is set to active or not (this has nothing to to do with the evalute method).
real_type OpenTissue::mbd::CoreConstraintInterface< mbd_types >::m_erp [protected] |
Error reduction parameter (must be in the range 0..1).
real_type OpenTissue::mbd::CoreConstraintInterface< mbd_types >::m_fps [protected] |
Frames per second (used to compute the amount of error correction that should be done within the next timestep).
bool OpenTissue::mbd::CoreConstraintInterface< mbd_types >::m_use_erp [protected] |
The documentation for this class was generated from the following file:
- /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/interfaces/mbd_core_constraint_interface.h
Generated on Thu Dec 1 2011 12:56:27 for HUMIM Tracker by
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