Public Types | Public Member Functions

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

#include <mbd_sub_constraint_interface.h>

Inheritance diagram for OpenTissue::mbd::SubConstraintInterface< mbd_types >:
OpenTissue::mbd::CoreConstraintInterface< mbd_types > OpenTissue::mbd::AngularJointLimit< mbd_types > OpenTissue::mbd::AngularJointMotor< mbd_types > OpenTissue::mbd::LinearJointLimit< mbd_types > OpenTissue::mbd::LinearJointMotor< mbd_types > OpenTissue::mbd::ReachCone< mbd_types >

List of all members.

Public Types

typedef
mbd_types::math_policy::size_type 		size_type
typedef
mbd_types::math_policy::real_type 		real_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

 SubConstraintInterface ()
virtual ~SubConstraintInterface ()
virtual void get_linear_jacobian_A (matrix_range &J, size_type const &offset) const =0
virtual void get_linear_jacobian_B (matrix_range &J, size_type const &offset) const =0
virtual void get_angular_jacobian_A (matrix_range &J, size_type const &offset) const =0
virtual void get_angular_jacobian_B (matrix_range &J, size_type const &offset) const =0
virtual void get_stabilization_term (vector_range &b_error, size_type const &offset) const =0
virtual void get_low_limits (vector_range &lo, size_type const &offset) const =0
virtual void get_high_limits (vector_range &hi, size_type const &offset) const =0
virtual void get_dependency_indices (idx_vector_range &dep, size_type const &offset) const =0
virtual void get_dependency_factors (vector_range &factors, size_type const &offset) const =0
virtual void set_regularization (vector_range const &gamma, size_type const &offset)=0
virtual void get_regularization (vector_range &gamma, size_type const &offset) const =0
virtual void set_solution (vector_range const &solution, size_type const &offset)=0
virtual void get_solution (vector_range &solution, size_type const &offset) const =0

Detailed Description

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

Sub Constraint base Class. Sub constraints are ``extra'' constrains on constraints between body pairs.

For instance an joint limit or motor is an extra constraint on a hinge joint.

These kind of constraints are termed sub-constraints, because they are subsequent constraints on a ``base'' constraint.

Member Typedef Documentation

template<typename mbd_types >
typedef mbd_types::math_policy::idx_vector_range OpenTissue::mbd::SubConstraintInterface< mbd_types >::idx_vector_range

Reimplemented 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 >.

template<typename mbd_types >
typedef mbd_types::math_policy::matrix_range OpenTissue::mbd::SubConstraintInterface< mbd_types >::matrix_range

Reimplemented 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 >.

template<typename mbd_types >
typedef mbd_types::math_policy::real_type OpenTissue::mbd::SubConstraintInterface< mbd_types >::real_type

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

Reimplemented 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 >.

template<typename mbd_types >
typedef mbd_types::math_policy::size_type OpenTissue::mbd::SubConstraintInterface< mbd_types >::size_type

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

Reimplemented 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 >.

template<typename mbd_types >
typedef mbd_types::math_policy::vector_range OpenTissue::mbd::SubConstraintInterface< mbd_types >::vector_range

Reimplemented 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 >.

Constructor & Destructor Documentation

template<typename mbd_types >
OpenTissue::mbd::SubConstraintInterface< mbd_types >::SubConstraintInterface (  )  [inline]
template<typename mbd_types >
virtual OpenTissue::mbd::SubConstraintInterface< mbd_types >::~SubConstraintInterface (  )  [inline, virtual]

Member Function Documentation

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_angular_jacobian_A ( matrix_range &  J,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_angular_jacobian_B ( matrix_range &  J,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_dependency_factors ( vector_range &  factors,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_dependency_indices ( idx_vector_range &  dep,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_high_limits ( vector_range &  hi,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_linear_jacobian_A ( matrix_range &  J,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_linear_jacobian_B ( matrix_range &  J,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_low_limits ( vector_range &  lo,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_regularization ( vector_range &  gamma,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_solution ( vector_range &  solution,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::get_stabilization_term ( vector_range &  b_error,
size_type const &  offset 
) const [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::set_regularization ( vector_range const &  gamma,
size_type const &  offset 
) [pure virtual]

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 >.

template<typename mbd_types >
virtual void OpenTissue::mbd::SubConstraintInterface< mbd_types >::set_solution ( vector_range const &  solution,
size_type const &  offset 
) [pure virtual]

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 >.

The documentation for this class was generated from the following file:
Generated on Thu Dec 1 2011 12:56:27 for HUMIM Tracker by  doxygen 1.7.1