Constraint.h File Reference

This defines the Constraint class, which is used to specify limitations on the mobility of the MobilizedBodies in a MatterSubsystem. More...

#include "SimTKmath.h"
#include "simbody/internal/common.h"
#include <cassert>

Go to the source code of this file.

Classes
class	SimTK::Constraint
	This is the base class for all Constraint classes, which is just a handle for the underlying hidden implementation. More...
class	SimTK::Constraint::Rod
	This constraint consists of one constraint equation that enforces a constant distance between a point on one body and a point on another body. More...
class	SimTK::Constraint::PointInPlane
	One constraint equation. More...
class	SimTK::Constraint::PointOnLine
	Two constraint equations. More...
class	SimTK::Constraint::ConstantAngle
	This constraint consists of a single constraint equation that enforces that a unit vector v1 fixed to one body (the "base body") must maintain a fixed angle theta with respect to a unit vector v2 fixed on the other body (the "follower body"). More...
class	SimTK::Constraint::Ball
	Three constraint equations. More...
class	SimTK::Constraint::ConstantOrientation
	Three constraint equations. More...
class	SimTK::Constraint::Weld
	Six constraint equations. More...
class	SimTK::Constraint::NoSlip1D
	One non-holonomic constraint equation. More...
class	SimTK::Constraint::ConstantSpeed
	One non-holonomic constraint equation. More...
class	SimTK::Constraint::ConstantAcceleration
	One acceleration-only constraint equation. More...
class	SimTK::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	SimTK::Constraint::Custom::Implementation
class	SimTK::Constraint::CoordinateCoupler
	This is a subclass of Constraint::Custom which uses a Function object to define a holonomic (position) constraint. More...
class	SimTK::Constraint::SpeedCoupler
	This is a subclass of Constraint::Custom which uses a Function object to define a nonholonomic (velocity) constraint. More...
class	SimTK::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...
Namespaces
namespace	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.

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Detailed Description

This defines the Constraint class, which is used to specify limitations on the mobility of the MobilizedBodies in a MatterSubsystem.

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.