Constraint is a PIMPL-style abstract base class, with concrete classes defined for each kind of constraint. There are a set of built-in constraints and a generic "Custom" constraint (an abstract base class) from which advanced users may derive their own constraints.
#include "SimTKmath.h"
#include "simbody/internal/common.h"
#include <cassert>
Go to the source code of this file.
Namespaces | |
| namespace | SimTK |
Classes | |
| class | Constraint |
| This is the base class for all Constraint classes, which is just a handle for the underlying hidden implementation. More... | |
| class | Constraint::Rod |
| One constraint equation. More... | |
| class | Constraint::PointInPlane |
| One constraint equation. More... | |
| class | Constraint::PointOnLine |
| Two constraint equations. More... | |
| class | Constraint::ConstantAngle |
| One constraint equation. More... | |
| class | Constraint::Ball |
| Three constraint equations. More... | |
| class | Constraint::ConstantOrientation |
| Three constraint equations. More... | |
| class | Constraint::Weld |
| Six constraint equations. More... | |
| class | Constraint::NoSlip1D |
| One non-holonomic constraint equation. More... | |
| class | Constraint::ConstantSpeed |
| One non-holonomic constraint equation. More... | |
| class | Constraint::Custom |
| The handle class Constraint::Custom (dataless) and its companion class Constraint::Custom::Implementation can be used together to define new Constraint types with arbitrary properties. More... | |
| class | Constraint::Custom::Implementation |
| class | Constraint::CoordinateCoupler |
| This is a subclass of Constraint::Custom which uses a Function object to define a holonomic (position) constraint. More... | |
| class | Constraint::SpeedCoupler |
| This is a subclass of Constraint::Custom which uses a Function object to define a nonholonomic (velocity) constraint. More... | |
| class | Constraint::PrescribedMotion |
| This is a subclass of Constraint::Custom which uses a Function to prescribe the behavior of a single generalized coordinate as a function of time. More... | |
1.5.6