OpenSim::UnilateralConstraint Class Reference

A parent class for implementing an OpenSim UnilateralConstraint. More...

#include <UnilateralConstraint.h>

Inheritance diagram for OpenSim::UnilateralConstraint:

List of all members.

Public Member Functions
	UnilateralConstraint ()
	Default constructor.
	UnilateralConstraint (const UnilateralConstraint &aUnilateralConstraint)
	Copy constructor.
virtual	~UnilateralConstraint ()
	Destructor.
virtual Object *	copy () const
	Copy this UnilateralConstraint and return a pointer to the copy.
UnilateralConstraint &	operator= (const UnilateralConstraint &aUnilateralConstraint)
	Assignment operator.
void	copyData (const UnilateralConstraint &aUnilateralConstraint)
	Copy data members from one UnilateralConstraint to another.
	OPENSIM_DECLARE_DERIVED (UnilateralConstraint, Constraint)
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
virtual int	getNumConstraintEquations ()
virtual std::vector< bool >	unilateralConditionsSatisfied ()
Protected Attributes
int	_numConstraintEquations
	number of constraint equations and thus unilateral conditions to be satisfied
Friends
class	SimbodyEngine

---

Detailed Description

A parent class for implementing an OpenSim UnilateralConstraint.

Specific UnilateralConstraints should be derived from this class.

It is expeced that constraints used to model contact will be unilateral. Furthermore, complex contact constraints can themselves employ several SimTK::Constraints. In this case, disabling methods on Constraint should be overriden and the appropriate logic applied to enabling/disabling individual underlying constraints. In most cases, the unilateral conditions should be sufficient to determine the states of the internal (underlying) constraints based on the global disabled condition.

Author:

Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

UnilateralConstraint::UnilateralConstraint

(

)

Default constructor.

UnilateralConstraint::UnilateralConstraint

(

const UnilateralConstraint &

aUnilateralConstraint

)

Copy constructor.

Parameters:

aUnilateralConstraint

UnilateralConstraint to be copied.

UnilateralConstraint::~UnilateralConstraint

(

)

[virtual]

Destructor.

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Member Function Documentation

Object * UnilateralConstraint::copy

(

)

const [virtual]

Copy this UnilateralConstraint and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this UnilateralConstraint.

Reimplemented from OpenSim::Constraint.

Reimplemented in OpenSim::RollingOnSurfaceConstraint.

void UnilateralConstraint::copyData

(

const UnilateralConstraint &

aUnilateralConstraint

)

Copy data members from one UnilateralConstraint to another.

Parameters:

aUnilateralConstraint

UnilateralConstraint to be copied.

Reimplemented from OpenSim::Constraint.

Reimplemented in OpenSim::RollingOnSurfaceConstraint.

virtual int OpenSim::UnilateralConstraint::getNumConstraintEquations

(

)

[inline, virtual]

OpenSim::UnilateralConstraint::OPENSIM_DECLARE_DERIVED	(	UnilateralConstraint	,
		Constraint
	)

UnilateralConstraint & UnilateralConstraint::operator=

(

const UnilateralConstraint &

aConstraint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Constraint.

Reimplemented in OpenSim::RollingOnSurfaceConstraint.

void UnilateralConstraint::setup

(

Model &

aModel

)

[virtual]

Perform some set up functions that happen after the object has been deserialized or copied.

Parameters:

aEngine

dynamics engine containing this UnilateralConstraint.

Reimplemented from OpenSim::Constraint.

Reimplemented in OpenSim::RollingOnSurfaceConstraint.

virtual std::vector<bool> OpenSim::UnilateralConstraint::unilateralConditionsSatisfied

(

)

[inline, virtual]

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Friends And Related Function Documentation

friend class SimbodyEngine [friend]

Reimplemented from OpenSim::Constraint.

Reimplemented in OpenSim::RollingOnSurfaceConstraint.

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Member Data Documentation

int OpenSim::UnilateralConstraint::_numConstraintEquations [protected]

number of constraint equations and thus unilateral conditions to be satisfied

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

• OpenSim/Simulation/SimbodyEngine/UnilateralConstraint.h
• OpenSim/Simulation/SimbodyEngine/UnilateralConstraint.cpp