#include <mbd_linear_joint_limit.h>

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

Public Types
typedef mbd_types::math_policy::real_type	real_type
typedef mbd_types::math_policy::size_type	size_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
typedef mbd_types::math_policy::value_traits	value_traits
Public Member Functions
void	set_min_limit (real_type const &d_min)
real_type	get_min_limit () const
void	set_max_limit (real_type const &d_max)
real_type	get_max_limit () const
	LinearJointLimit ()
virtual	~LinearJointLimit ()
void	evaluate (real_type const &offset, vector3_type const &s_wcs, vector3_type const &r_A, vector3_type const &r_B)
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_d_min
	Minimum displacement along joint axe away from calibration position ( d_min <= d_calibration=0 <= d_max).
real_type	m_d_max
	Maximum displacement along joint axe away from calibration position ( d_min <= d_calibration=0 <= d_max).
real_type	m_d_cur
	The current displacement along the joint axe away from calibration position.
real_type	m_d_error
	The current displacement error along the joint axe. That is if slider have moved beyond it limits.
vector3_type	m_s_wcs
	The joint axe in WCS.
vector3_type	m_c
	body_type center displacement, ie. c = r_B - r_A
vector3_type	m_half_cXs
	0.5*c X s_wcs
bool	m_low_active
	Boolean flag indicating whetever the minimum limit 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::LinearJointLimit< mbd_types >

Member Typedef Documentation

template<typename mbd_types >

typedef mbd_types::math_policy::idx_vector_range OpenTissue::mbd::LinearJointLimit< 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::LinearJointLimit< mbd_types >::matrix_range

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

template<typename mbd_types >

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

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

template<typename mbd_types >

typedef mbd_types::math_policy::size_type OpenTissue::mbd::LinearJointLimit< mbd_types >::size_type

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

template<typename mbd_types >

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

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

template<typename mbd_types >

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

template<typename mbd_types >

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

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

Constructor & Destructor Documentation

template<typename mbd_types >

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

template<typename mbd_types >

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

Member Function Documentation

template<typename mbd_types >

void OpenTissue::mbd::LinearJointLimit< mbd_types >::evaluate	(	real_type const &	offset,
		vector3_type const &	s_wcs,
		vector3_type const &	r_A,
		vector3_type const &	r_B
	)			`[inline]`

Evaluate limit constraint.

Parameters:

	offset	joint_type offset (i.e. linear displacement from initial pose).
	s_wcs	joint_type axis in world coordinate system.
	r_A	Center of mass position of body A in world coordinate system.
	r_B	Center of mass position of body B in world coordinate system.

template<typename mbd_types >

void OpenTissue::mbd::LinearJointLimit< 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::LinearJointLimit< 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::LinearJointLimit< 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::LinearJointLimit< 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 >

void OpenTissue::mbd::LinearJointLimit< 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::LinearJointLimit< 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::LinearJointLimit< 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::LinearJointLimit< 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::LinearJointLimit< mbd_types >::get_max_limit ( ) const [inline]

Get Maximum Limit.

Returns:: The current maximum limit.

template<typename mbd_types >

real_type OpenTissue::mbd::LinearJointLimit< mbd_types >::get_min_limit ( ) const [inline]

Get Minimum Limit.

Returns:: The current minimum limit.

template<typename mbd_types >

size_type OpenTissue::mbd::LinearJointLimit< 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::LinearJointLimit< 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::LinearJointLimit< 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::LinearJointLimit< 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::LinearJointLimit< mbd_types >::set_max_limit ( real_type const & d_max ) [inline]

Set Maximum Limit.

d_max The new maximum limit (must be non-negative).

template<typename mbd_types >

void OpenTissue::mbd::LinearJointLimit< mbd_types >::set_min_limit ( real_type const & d_min ) [inline]

Set Minimum Limit.

d_min The new minimum limit (must be non-positive).

template<typename mbd_types >

void OpenTissue::mbd::LinearJointLimit< 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::LinearJointLimit< 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 >

vector3_type OpenTissue::mbd::LinearJointLimit< mbd_types >::m_c [protected]

body_type center displacement, ie. c = r_B - r_A

template<typename mbd_types >

real_type OpenTissue::mbd::LinearJointLimit< mbd_types >::m_d_cur [protected]

The current displacement along the joint axe away from calibration position.

template<typename mbd_types >

real_type OpenTissue::mbd::LinearJointLimit< mbd_types >::m_d_error [protected]

The current displacement error along the joint axe. That is if slider have moved beyond it limits.

template<typename mbd_types >

real_type OpenTissue::mbd::LinearJointLimit< mbd_types >::m_d_max [protected]

Maximum displacement along joint axe away from calibration position ( d_min <= d_calibration=0 <= d_max).

template<typename mbd_types >

real_type OpenTissue::mbd::LinearJointLimit< mbd_types >::m_d_min [protected]

Minimum displacement along joint axe away from calibration position ( d_min <= d_calibration=0 <= d_max).

template<typename mbd_types >

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

Constraint force mixing.

template<typename mbd_types >

vector3_type OpenTissue::mbd::LinearJointLimit< mbd_types >::m_half_cXs [protected]

0.5*c X s_wcs

template<typename mbd_types >

bool OpenTissue::mbd::LinearJointLimit< mbd_types >::m_low_active [protected]

Boolean flag indicating whetever the minimum limit is active or not.

template<typename mbd_types >

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

Number of jacobian rows.

template<typename mbd_types >

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

The joint axe in WCS.

template<typename mbd_types >

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

Solution.

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

/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/limits/mbd_linear_joint_limit.h

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

Public Types

Public Member Functions

Protected Attributes

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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