One non-holonomic constraint equation. More...

#include <Constraint.h>

Inheritance diagram for SimTK::Constraint::ConstantSpeed:

Public Member Functions
	ConstantSpeed (MobilizedBody &mobilizer, MobilizerUIndex, Real speed)
	Construct a constant speed constraint on a particular mobility of the given mobilizer.
	ConstantSpeed (MobilizedBody &mobilizer, Real speed)
	Construct a constant speed constraint on the mobility of the given mobilizer, assuming there is only one mobility.
MobilizedBodyIndex	getMobilizedBodyIndex () const
MobilizerUIndex	getWhichU () const
Real	getDefaultSpeed () const
Real	getVelocityError (const State &) const
Real	getAccelerationError (const State &) const
Real	getMultiplier (const State &) const
Real	getGeneralizedForce (const State &) const

Detailed Description

One non-holonomic constraint equation.

Some mobility u is required to be at a particular value s.

The assembly condition is the same as the run-time constraint: u must be set to s.

Constructor & Destructor Documentation

SimTK::Constraint::ConstantSpeed::ConstantSpeed	(	MobilizedBody &	mobilizer,
		MobilizerUIndex	,
		Real	speed
	)

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

SimTK::Constraint::ConstantSpeed::ConstantSpeed	(	MobilizedBody &	mobilizer,
		Real	speed
	)

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

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

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

Real SimTK::Constraint::ConstantSpeed::getDefaultSpeed ( ) const

Real SimTK::Constraint::ConstantSpeed::getVelocityError ( const State & ) const

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

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

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

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