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Constraint.h File Reference

This defines the base Constraint class and related classes, which are used to specify limitations on the mobility of the mobilized bodies in a SimbodyMatterSubsystem. More...

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::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::ConstantOrientation
 Three constraint equations. More...
 
class  SimTK::Constraint::NoSlip1D
 One non-holonomic constraint equation. More...
 
class  SimTK::Constraint::ConstantCoordinate
 Constrain a single mobilizer coordinate q to have a particular value. More...
 
class  SimTK::Constraint::ConstantSpeed
 Constrain a single mobility to have a particular speed. More...
 
class  SimTK::Constraint::ConstantAcceleration
 Constrain a single mobility to have a particular acceleration. 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
 This is the abstract base class for the implementation of custom constraints. See Constraint::Custom for more information. More...
 
class  SimTK::Constraint::CoordinateCoupler
 This is a Constraint that uses a Function object to define a single holonomic (position) constraint equation acting to relate a set of generalized coordinates q. More...
 
class  SimTK::Constraint::SpeedCoupler
 This is a Constraint that uses a Function object to define a nonholonomic (velocity) constraint. More...
 
class  SimTK::Constraint::PrescribedMotion
 This is a Constraint that uses a Function to prescribe the behavior of a single generalized coordinate as a function of time. More...
 

Namespaces

 SimTK
 This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.
 

Detailed Description

This defines the base Constraint class and related classes, which are used to specify limitations on the mobility of the mobilized bodies in a SimbodyMatterSubsystem.