#include <mbd_linear_joint_motor.h>
typedef mbd_types::math_policy::idx_vector_range OpenTissue::mbd::LinearJointMotor< mbd_types >::idx_vector_range |
Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.
typedef mbd_types::math_policy::matrix_range OpenTissue::mbd::LinearJointMotor< mbd_types >::matrix_range |
Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.
typedef mbd_types::math_policy::real_type OpenTissue::mbd::LinearJointMotor< mbd_types >::real_type |
Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.
typedef mbd_types::math_policy::size_type OpenTissue::mbd::LinearJointMotor< mbd_types >::size_type |
Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.
typedef mbd_types::math_policy::value_traits OpenTissue::mbd::LinearJointMotor< mbd_types >::value_traits |
Reimplemented from OpenTissue::mbd::CoreConstraintInterface< mbd_types >.
typedef mbd_types::math_policy::vector3_type OpenTissue::mbd::LinearJointMotor< mbd_types >::vector3_type |
typedef mbd_types::math_policy::vector_range OpenTissue::mbd::LinearJointMotor< mbd_types >::vector_range |
Reimplemented from OpenTissue::mbd::SubConstraintInterface< mbd_types >.
OpenTissue::mbd::LinearJointMotor< mbd_types >::LinearJointMotor | ( | ) | [inline] |
virtual OpenTissue::mbd::LinearJointMotor< mbd_types >::~LinearJointMotor | ( | ) | [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::evaluate | ( | vector3_type const & | s_wcs, | |
vector3_type const & | r_A, | |||
vector3_type const & | r_B | |||
) | [inline] |
Evaluate motor constraint.
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. |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_angular_jacobian_A | ( | matrix_range & | J, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_angular_jacobian_B | ( | matrix_range & | J, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_dependency_factors | ( | vector_range & | factors, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_dependency_indices | ( | idx_vector_range & | dep, | |
size_type const & | offset | |||
) | const [inline, virtual] |
real_type OpenTissue::mbd::LinearJointMotor< mbd_types >::get_desired_speed | ( | ) | const [inline] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_high_limits | ( | vector_range & | hi, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_linear_jacobian_A | ( | matrix_range & | J, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_linear_jacobian_B | ( | matrix_range & | J, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_low_limits | ( | vector_range & | lo, | |
size_type const & | offset | |||
) | const [inline, virtual] |
real_type OpenTissue::mbd::LinearJointMotor< mbd_types >::get_maximum_force | ( | ) | const [inline] |
size_type OpenTissue::mbd::LinearJointMotor< 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.
Implements OpenTissue::mbd::CoreConstraintInterface< mbd_types >.
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_regularization | ( | vector_range & | gamma, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_solution | ( | vector_range & | solution, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::get_stabilization_term | ( | vector_range & | b_error, | |
size_type const & | offset | |||
) | const [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::set_desired_speed | ( | real_type const & | v_desired | ) | [inline] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::set_maximum_force | ( | real_type const & | f_max | ) | [inline] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::set_regularization | ( | vector_range const & | gamma, | |
size_type const & | offset | |||
) | [inline, virtual] |
void OpenTissue::mbd::LinearJointMotor< mbd_types >::set_solution | ( | vector_range const & | solution, | |
size_type const & | offset | |||
) | [inline, virtual] |
vector3_type OpenTissue::mbd::LinearJointMotor< mbd_types >::m_c [protected] |
body_type center displacement, ie. c = r_B - r_A
real_type OpenTissue::mbd::LinearJointMotor< mbd_types >::m_f_max [protected] |
Maximum allowed force.
real_type OpenTissue::mbd::LinearJointMotor< mbd_types >::m_gamma [protected] |
Constraint force mixing.
vector3_type OpenTissue::mbd::LinearJointMotor< mbd_types >::m_half_cXs [protected] |
0.5*c X s_wcs
size_type OpenTissue::mbd::LinearJointMotor< mbd_types >::m_rows [protected] |
Number of jacobian rows.
vector3_type OpenTissue::mbd::LinearJointMotor< mbd_types >::m_s_wcs [protected] |
The joint axe in WCS.
real_type OpenTissue::mbd::LinearJointMotor< mbd_types >::m_solution [protected] |
Solution.
real_type OpenTissue::mbd::LinearJointMotor< mbd_types >::m_v_desired [protected] |
The desired velocity to move along joint axe.