One acceleration-only constraint equation. More...

#include <Constraint.h>

Inheritance diagram for SimTK::Constraint::ConstantAcceleration:

Public Member Functions
	ConstantAcceleration (MobilizedBody &mobilizer, MobilizerUIndex, Real defaultAcceleration)
	Construct a constant acceleration constraint on a particular mobility of the given mobilizer.
	ConstantAcceleration (MobilizedBody &mobilizer, Real defaultAcceleration)
	Construct a constant acceleration constraint on the mobility of the given mobilizer, assuming there is only one mobility.
MobilizedBodyIndex	getMobilizedBodyIndex () const
MobilizerUIndex	getWhichU () const
Real	getDefaultAcceleration () const
ConstantAcceleration &	setDefaultAcceleration (Real accel)
void	setAcceleration (State &state, Real accel) const
	Override the default acceleration with this one.
Real	getAcceleration (const State &state) const
Real	getAccelerationError (const State &) const
Real	getMultiplier (const State &) const
Real	getGeneralizedForce (const State &) const

Detailed Description

One acceleration-only constraint equation.

Some generalized acceleration udot is required to be at a particular value a.

There is no assembly condition because this does not involve state variables q or u, just u's time derivative udot.

Constructor & Destructor Documentation

SimTK::Constraint::ConstantAcceleration::ConstantAcceleration	(	MobilizedBody &	mobilizer,
		MobilizerUIndex	,
		Real	defaultAcceleration
	)

Construct a constant acceleration constraint on a particular mobility of the given mobilizer.

SimTK::Constraint::ConstantAcceleration::ConstantAcceleration	(	MobilizedBody &	mobilizer,
		Real	defaultAcceleration
	)

Construct a constant acceleration constraint on the mobility of the given mobilizer, assuming there is only one mobility.

MobilizedBodyIndex SimTK::Constraint::ConstantAcceleration::getMobilizedBodyIndex ( ) const

MobilizerUIndex SimTK::Constraint::ConstantAcceleration::getWhichU ( ) const

Real SimTK::Constraint::ConstantAcceleration::getDefaultAcceleration ( ) const

ConstantAcceleration& SimTK::Constraint::ConstantAcceleration::setDefaultAcceleration ( Real accel )

void SimTK::Constraint::ConstantAcceleration::setAcceleration	(	State &	state,
		Real	accel
	)		const

Override the default acceleration with this one.

This invalidates the Acceleration stage in the state.

Real SimTK::Constraint::ConstantAcceleration::getAcceleration ( const State & state ) const

Real SimTK::Constraint::ConstantAcceleration::getAccelerationError ( const State & ) const

Real SimTK::Constraint::ConstantAcceleration::getMultiplier ( const State & ) const

Real SimTK::Constraint::ConstantAcceleration::getGeneralizedForce ( const State & ) const

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