OpenSim::UnilateralConstraint Class Reference

An abstract class defining 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 =0
	Construct and return a copy of this object.
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 int	getNumConstraintEquations ()
virtual std::vector< bool >	unilateralConditionsSatisfied (const SimTK::State &s)
Protected Member Functions
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
Protected Attributes
int	_numConstraintEquations
	number of constraint equations and thus unilateral conditions to be satisfied

---

Detailed Description

An abstract class defining 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

virtual Object* OpenSim::UnilateralConstraint::copy

(

)

const [pure virtual]

Construct and return a copy of this object.

The object is allocated using the new operator, so the caller is responsible for deleting the returned object.

Returns:

Copy of this object.

Implements OpenSim::Constraint.

Implemented 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

)

[protected, virtual]

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

Parameters:

Model

containing this UnilateralConstraint.

Reimplemented from OpenSim::Constraint.

Reimplemented in OpenSim::RollingOnSurfaceConstraint.

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

(

const SimTK::State &

s

)

[inline, virtual]

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